Drive mechanism

Abstract

The utility model discloses a driving mechanism which comprises a rack and a first motor. A second motor; the first transmission mechanism is connected to output shafts of the first motor and the second motor and is used for connecting the first driving object and the second driving object; wherein the first motor and the second motor are used for jointly cooperating to drive the first transmission mechanism to drive the second driving object to rotate relative to the first driving object, and the first motor and the second motor are further used for jointly cooperating to drive the first transmission mechanism to drive the first driving object to do linear telescopic motion. The driving mechanism comprises the first motor and the second motor, the structure is compact, the size is reduced, and the two motors work together to cooperate to drive the first transmission mechanism to drive the second driving object to rotate relative to the first driving object and drive the first driving object to do linear telescopic motion at the same time; parameters required by motor driving can be reduced, errors are reduced, the running speed of automatic equipment is increased, and the use cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a driving mechanism. Background Art

[0002] At present, the driving mechanism is the main functional component of the automation equipment, and the driving mechanism is used to provide driving force to drive the automation equipment to move.

[0003] The movement of automated equipment usually takes many forms, such as linear motion, rotational motion, etc. The existing drive method usually uses multiple drive mechanisms to independently control the various movements of the automated equipment. The required parameters are complex and prone to errors, which affects the operating speed and cost of the automated equipment. Utility Model Content

[0004] In view of this, the present application proposes a driving mechanism.

[0005] The present application proposes a driving mechanism, characterized by comprising:

[0006] frame;

[0007] A first motor is mounted on the frame;

[0008] A second motor is mounted on the frame;

[0009] a first transmission mechanism connected to the output shafts of the first motor and the second motor and used to connect the first driven object and the second driven object;

[0010] Among them, the first motor and the second motor are used to work together to drive the first transmission mechanism to drive the second drive object to rotate relative to the first drive object, and the first motor and the second motor are also used to work together to drive the first transmission mechanism to drive the first drive object to perform linear telescopic motion.

[0011] The driving mechanism proposed in this application includes a first motor and a second motor, which have a compact structure and reduced size. The two motors work together to drive the first transmission mechanism to drive the second driven object to rotate relative to the first driven object while driving the first driven object to perform linear telescopic motion. This can reduce the parameters required for motor drive, reduce errors, improve the operating speed of automation equipment, and reduce usage costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained from these drawings without any creative work.

[0013] Figure 1 This is a schematic diagram of the structure of the driving mechanism proposed in an embodiment of the present application for a robot.

[0014] Figure 2 for Figure 1 Schematic diagram of the structure of the driving mechanism, the first driving object and the second driving object in the structure shown.

[0015] Figure 3 This is a schematic structural diagram of the driving mechanism proposed in an embodiment of the present application when used for the mechanical legs of a robot.

[0016] Figure 4 This is a schematic structural diagram from another perspective of the driving mechanism, the first driving object, and the second driving object proposed in an embodiment of the present application.

[0017] Figure 5 This is a schematic structural diagram of the driving mechanism proposed in an embodiment of the present application when used in a robotic arm.

[0018] Figure 6 This is an exploded schematic diagram of the driving mechanism, the first driving object, and the second driving object proposed in an embodiment of the present application.

[0019] Figure 7 This is a schematic structural diagram of the first transmission assembly, the second transmission assembly, and the second drive object proposed in an embodiment of the present application.

[0020] Figure 8 This is a schematic structural diagram of the first transmission assembly and the second transmission assembly proposed in an embodiment of the present application.

[0021] Figure 9 This is a schematic structural diagram from another perspective of the driving mechanism, the first driving object, and the second driving object proposed in an embodiment of the present application.

[0022] Figure 10 This is a partial exploded diagram of the structure of the driving mechanism, the first driving object, and the second driving object proposed in an embodiment of the present application.

[0023] Figure 11 This is a cross-sectional view showing the partial structure of the driving mechanism proposed in an embodiment of the present application.

[0024] Figure 12 for Figure 11 Schematic diagram of the enlarged structure at A.

[0025] Description of reference numerals:

[0026] 100. Drive mechanism; 10. First motor; 11. Motor frame; 20. Second motor; 30. First transmission mechanism; 31. First transmission assembly; 311. First driving pulley; 312. First transmission pulley; 313. First flexible transmission member; 314. Second transmission pulley; 315. First driven pulley; 316. First limiting member; 317. First preload pulley; 32. Second transmission assembly; 321. Second driving pulley; 322. Third transmission pulley; 323. Fourth transmission pulley; 324. Second flexible transmission member; 325. Second limiting member; 326. Second preload pulley; 33. Sliding assembly; 331. Guide rod; 332. Sliding seat; 40. Third motor; 50. Fourth motor; 60. Second transmission mechanism; 61. Third transmission assembly; 611. Third driving wheel; 612. Second driven wheel; 613. Third flexible transmission member; 614. Fifth transmission wheel; 615. Sixth transmission wheel; 62. Fourth transmission assembly; 621. Fourth driving wheel; 622. Fourth flexible transmission member; 623. Seventh transmission wheel; 624. Eighth transmission wheel; 70. Mounting seat; 80. Support frame; 81. First connecting frame; 82. Second connecting frame; 83. Third connecting frame; 84. Fourth connecting frame; 90. Frame; 91. Through hole; 200. First driven object; 210. First object; 220. Second object; 300. Second driven object; a. First axis; b. Second axis; 400. Body; 1000. Robot. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0028] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0029] It should also be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0030] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. For example, the terms "first," "second," and so on 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, the term "first" or "second" may explicitly or implicitly include at least one of the features.

[0031] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0032] See Figures 1-12 As shown, an embodiment of the present application proposes a driving mechanism 100, including a first motor 10, a second motor 20 and a first transmission mechanism 30. The first transmission mechanism 30 is connected to the output shafts of the first motor 10 and the second motor 20, and is used to connect the first drive object 200 and the second drive object 300; wherein, the first motor 10 and the second motor 20 are used to jointly drive the first transmission mechanism 30 to drive the second drive object 300 to rotate relative to the first drive object 200, and the first motor 10 and the second motor 20 are also used to work together to drive the first transmission mechanism 30 to drive the first drive object 200 to perform linear telescopic motion.

[0033] The driving mechanism 100 proposed in this application includes a first motor 10 and a second motor 20, which have a compact structure and reduced size. The two motors work together to drive the first transmission mechanism 30 to drive the second driven object 300 to rotate relative to the first driven object 200 while driving the first driven object 200 to perform linear telescopic motion. This can reduce the parameters required for motor drive, reduce errors, improve the operating speed of automation equipment, and reduce usage costs.

[0034] In some usage scenarios, such as Figures 1 to 4 As shown, the first driving object 200 can be a mechanical leg, a mechanical arm (such as Figure 5 ) or any other first driving object 200 that needs to achieve linear extension and retraction, the second driving object 300 can be the wheel assembly or the rotating sole assembly of the robot 1000.

[0035] When the first driven object is a robotic leg or an arm, the robotic leg or the robotic arm is rotatably connected to the body 400 .

[0036] In some embodiments, the first motor 10 and the second motor 20 are connected to the upper end of the first driven object 200. The power source of the first motor 10 and the second motor 20 is connected to the upper end of the first driven object 200, which helps to increase the center of gravity of the first driven object 200 and reduce the rotational inertia of the first driven object 200, thereby helping to reduce energy consumption of the device and improve the response speed of the device.

[0037] like Figure 3 、 Figure 4 、 Figure 6 As shown, in some embodiments, the first driven object 200 includes a first object 210 and a second object 220; the first transmission mechanism 30 includes a first transmission component 31, a second transmission component 32 and a sliding component 33, the sliding component 33 is provided between the first object 210 and the second object 220, for slidingly connecting the first object 210 and the second object 220; the first transmission component 31 is connected to the output shaft of the first motor 10, and is connected to the first object 210, the second object 220, and the second driven object 300, and the second transmission component 32 is connected to the output shaft of the second motor 20. The first motor 10 and the second motor 20 are configured to respectively drive the first transmission assembly 31 and the second transmission assembly 32 to cooperate with each other to drive the second driven object 300 to rotate relative to the second driven object 220. The first motor 10 and the second motor 20 are further configured to respectively drive the first transmission assembly 31 and the second transmission assembly 32 to cooperate with each other to drive the second driven object 220 to move linearly in the up-down direction relative to the first object 210, thereby achieving linear telescopic movement of the first driven object 200. The up-down direction is the extension direction of the sliding assembly 33. Thus, the configuration of the sliding assembly 33 enables the first object 210 and the second object 220 to slide relative to each other in the first direction. The configuration of the first transmission assembly 31 and the second transmission assembly 32 transmits the driving force of the first motor 10 and the second motor 20 to the first driven object 200 and the second driven object 300, thereby achieving linear telescopic movement of the first driven object 200 and rotation of the second driven object 300.

[0038] In some embodiments, when the first driving object 200 is the mechanical leg of the robot 1000 and the second driving object 300 is the wheel assembly of the robot 1000, the first leg mechanism and the second leg mechanism are slidably connected through the sliding assembly 33, and the first object 210 extends along the first direction so that the second leg mechanism can move linearly along the first direction relative to the first leg mechanism. Through the setting of the driving mechanism 100, the wheel assembly can be driven to rotate relative to the second leg mechanism, and the second leg mechanism can be driven to move linearly along the first direction relative to the first leg mechanism, so as to assist the robot 1000 to maintain self-balance when moving or standing, thereby facilitating the self-balancing control of the robot 1000.

[0039] The extension and retraction of the mechanical legs are achieved through the relative linear movement of the second leg mechanism and the first leg mechanism, so that sufficient extension and retraction can be achieved without increasing the lateral volume of the robot 1000, effectively improving the mobility of the robot 1000 in a limited space. In addition, through the setting of linear extension and retraction, the force arm of the load borne by the power source of the driving mechanism 100 remains constant during the extension and retraction of the mechanical legs, which simplifies the control model and improves the accuracy and response speed of the movement of the robot 1000. In general, the force arm of the load borne by the power source is shorter and the power consumption of the power source is low.

[0040] In addition, due to the linear telescopic arrangement between the first leg mechanism and the second leg mechanism, the energy efficiency of the robot 1000 at any telescopic position is improved, thereby reducing energy consumption.

[0041] At the same time, due to the linear telescopic movement mode, the lever arm of the mechanical leg remains unchanged during the telescopic process, that is, the load lever arm of the power source remains unchanged. In general, the load lever arm of the power source is shorter, the power source has low power consumption, strong load capacity and better stability.

[0042] Moreover, the linear telescopic setting of the present application makes the appearance of the robot 1000 more compact, provides greater freedom for the appearance design of the robot 1000, and makes the robot 1000 more in line with humanization and aesthetic requirements.

[0043] In other embodiments, Figure 5 As shown, when the first driven object 200 is the robotic arm of the robot 1000, the first object 210 is the first arm of the robotic arm, the second object 220 is the second arm of the robotic arm, and the second driven object 300 is the rotating palm of the robotic arm. The first arm and the second arm are slidably connected by a sliding component 33, and the first arm extends along the first direction so that the second arm can move linearly relative to the first arm along the first direction. Through the setting of the driving mechanism 100, the palm of the robotic arm can be driven to rotate relative to the second arm, and the second arm can be driven to move linearly relative to the first arm along the first direction, thereby realizing the rotation of the palm and linear telescopic movement, so as to facilitate operations such as grasping or carrying objects in different positions.

[0044] In some embodiments, the second driven object 300 may be a wheel assembly, a rotating foot assembly, or a rotating palm assembly of the robot 1000 .

[0045] In some embodiments, as Figure 6-Figure 8As shown, the first transmission assembly 31 includes a first driving wheel 311, at least one first transmission wheel 312, at least one second transmission wheel 314, a first flexible transmission member 313 and at least one first driven wheel 315; the second transmission assembly 32 includes a second driving wheel 321, at least one third transmission wheel 322, at least one fourth transmission wheel 323 and a second flexible transmission member 324; the first driving wheel 311 is connected to the output shaft of the first motor 10, the first driven wheel 315 is rotatably connected to the second object 220 and is connected to the second driving object 300, and the first driven wheel 315 can drive the second driving wheel 321 when it rotates. The first driving wheel 311 is connected to the output shaft of the second motor 20; the first transmission wheel 312 is arranged between the first driving wheel 311 and the first driven wheel 315 and is rotatably arranged on the first object 210; the first transmission wheel 312 is arranged between the first driving wheel 311 and the first driven wheel 315 and is rotatably arranged on the first object 210; the second transmission wheel 314 is rotatably arranged on the second object 220, and when the second object 220 is extended to the maximum relative to the first object 210, the highest point of the second transmission wheel 314 is not lower than the lowest point of the first transmission wheel 312; the third transmission wheel 314 is rotatably arranged on the second object 220, and when the second object 220 is extended to the maximum relative to the first object 210, the highest point of the second transmission wheel 314 is not lower than the lowest point of the first transmission wheel 312; The driven wheel 322 is arranged between the second driving wheel 321 and the first driven wheel 315 and is rotatably arranged on the first object 210; the fourth transmission wheel 323 is rotatably arranged on the second object 220. When the second object 220 is extended to the maximum relative to the first object 210, the height of the highest point of the fourth transmission wheel 323 is not lower than the height of the lowest point of the third transmission wheel 322; the first flexible transmission member 313 is connected to the first driving wheel 311, the first transmission wheel 312, the second transmission wheel 314, and the first driven wheel 315 to form a closed transmission loop; the second flexible transmission member 324 is connected to the second driving wheel 321, the third The transmission wheel 322, the fourth transmission wheel 323, and the first driven wheel 315 are connected in transmission to form a closed transmission loop; the flexible transmission member between the first driving wheel 311 and the first driven wheel 315 is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the second driving wheel 321 and the first driven wheel 315 is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the first transmission wheel 312 and the second transmission wheel 314 is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the third transmission wheel 322 and the fourth transmission wheel 323 is at least partially configured to be parallel to the up and down direction.

[0046] In this embodiment, the second transmission wheel 314 is disposed outside the first transmission wheel 312 , and the fourth transmission wheel 323 is disposed outside the third transmission wheel 322 .

[0047] Of course, in other embodiments, the second transmission wheel 314 may also be disposed inside the first transmission wheel 312 , and the fourth transmission wheel 323 may be disposed inside the third transmission wheel 322 .

[0048] When the second driven object 300 is a wheel assembly of the robot 1000 , the driven wheel is tightly connected to the wheel shaft, the wheel shaft is tightly connected to the wheel, and the wheel shaft is rotatably connected to the second leg mechanism via a bearing.

[0049] It should be noted that in this embodiment, only one first driven wheel 315 is provided. Of course, in other embodiments, two driven wheels may also be provided, wherein the first flexible transmission member 313 and the second flexible transmission member 324 are respectively connected to the two first driven wheels 315. The first driven wheel 315 and the second driven wheel 612 are fixedly connected to the second driven object 300. When the first flexible transmission member 313 and the second flexible transmission member 324 respectively drive the first driven wheel 315 and the second driven wheel 612 to rotate synchronously, the second driven object 300 rotates.

[0050] In some embodiments, the transmission of the second driven object 300 can be achieved by providing a driven wheel, which has a simple and compact structure.

[0051] In some embodiments, one first transmission wheel 312, one second transmission wheel 314, one third transmission wheel 322, and one fourth transmission wheel 323 are provided. Of course, in other embodiments, in order to install other components, there may be interference with the first flexible transmission member 313 and the second flexible transmission member 324. The first transmission wheel 312, the second transmission wheel 314, the third transmission wheel 322, and the fourth transmission wheel 323 can also be provided in plurality to facilitate the movement of the first flexible transmission member 313 and the second flexible transmission member 324. In this embodiment, the first transmission wheel 312 and the second transmission wheel 314 refer to the transmission wheels that are respectively rotatably arranged on the first object 210 and the second object 220, and the third transmission wheel 322 and the fourth transmission wheel 323 refer to the transmission wheels that are respectively rotatably arranged on the first object 210 and the second object 220, that is, the transmission wheel that is rotatably arranged on the first object 210 and transmits with the first flexible transmission member 313 can be referred to as the first transmission wheel 312; the transmission wheel that is rotatably arranged on the second object 220 and transmits with the first flexible transmission member 313 can be referred to as the second transmission wheel 314; the transmission wheel that is rotatably arranged on the first object 210 and transmits with the second flexible transmission member 324 can be referred to as the third transmission wheel 322; the transmission wheel that is rotatably arranged on the second object 220 and transmits with the second flexible transmission member 324 can be referred to as the fourth transmission wheel 323.

[0052] In some embodiments, at least a portion of the flexible transmission member between the first driving wheel 311 and the first driven wheel 315 is configured to be parallel to the vertical direction. Due to spatial structural arrangement, the flexible transmission member between the first driving wheel 311 and the first driven wheel 315 may not be entirely parallel to the vertical direction. However, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first object 210 and the transmission wheel connected to the second object 220 remains parallel to the vertical direction.

[0053] In some embodiments, a rotating wheel is provided between the first driving wheel 311 and the first driven wheel 315 and is rotatably connected to the flexible transmission member. When the rotating wheel is rotatably set on the first object 210, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driven wheel 315 remains parallel to the up-down direction; when the rotating wheel is rotatably set on the second object 220, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driving wheel 311 remains parallel to the up-down direction; when the flexible transmission member between the first driving wheel 311 and the first driven wheel 315 is transmitted, two rotating wheels are provided, and these two rotating wheels are rotatably set on the first object 210 and the second object 220 respectively. In this way, it is sufficient to ensure that the flexible transmission member between the two rotating wheels remains parallel to the up-down direction, that is, to ensure that the flexible transmission member between the transmission wheel connected to the first object 210 and the transmission wheel connected to the second object 220 remains parallel to the up-down direction. It should be noted that the rotating wheel is also a type of transmission wheel, and the wheels rotatably connected to the flexible transmission member can be called transmission wheels, that is, when the flexible transmission member is transmitted, the rotating wheel rotates.

[0054] At least a portion of the flexible transmission member between the second driving wheel 321 and the first driven wheel 315 is configured to be parallel to the up-down direction, similar to the above.

[0055] Similarly, due to the spatial structure arrangement, the flexible transmission member between the first transmission wheel 312 and the second transmission wheel 314 may not be able to remain parallel to the vertical direction throughout its entire section. However, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first object 210 and the transmission wheel connected to the second object 220 remains parallel to the vertical direction. In some embodiments, there may be multiple first transmission wheels 312 and second transmission wheels 314. After connecting to the first driving wheel 311, the first flexible transmission member 313 may connect to several first transmission wheels 312 before connecting to the second transmission wheel 314. In this case, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first object 210 and the transmission wheel connected to the second object 220 remains parallel to the vertical direction. That is, after the first flexible transmission member 313 passes through the last first transmission wheel 312 on the first object 210, the flexible transmission member between the first second transmission wheel 314 on the second object 220 remains parallel to the vertical direction.

[0056] Alternatively, in order to ensure that the flexible transmission member between the first transmission wheel 312 and the second transmission wheel 314 remains at least partially parallel to the up-down direction, the flexible transmission member between the first transmission wheel 312 and the second transmission wheel 314 is rotatably connected to a rotating wheel. When the rotating wheel is rotatably set on the first object 210, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 314 on the second object 220 remains parallel to the up-down direction; when the rotating wheel is rotatably set on the second object 220, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 312 on the first object 210 remains parallel to the up-down direction.

[0057] At least a portion of the flexible transmission member between the third transmission wheel 322 and the fourth transmission wheel 323 is configured to be parallel to the up-down direction, similar to the above.

[0058] In some embodiments, the entire flexible transmission member between the first transmission wheel 312 and the second transmission wheel 314 is configured to be parallel to the up-down direction, and the flexible transmission member between the third transmission wheel 322 and the fourth transmission wheel 323 is configured to be parallel to the up-down direction.

[0059] When the second object 220 makes a linear extension motion relative to the first object 210, the first driven wheel 315 moves away from the first driving wheel 311 as the second object 220 moves, the length of the first flexible transmission member 313 between the first driving wheel 311 and the first driven wheel 315 increases, and the length of the first flexible transmission member 313 between the first transmission wheel 312 and the second transmission wheel 314 decreases synchronously. At the same time, the length of the second flexible transmission member 324 between the second driving wheel 321 and the first driven wheel 315 increases synchronously, and the length of the second flexible transmission member 324 between the third transmission wheel 322 and the fourth transmission wheel 323 decreases synchronously.

[0060] When the second object 220 performs a linear shortening motion relative to the first object 210, the first driven wheel 315 moves closer to the first driving wheel 311 as the second object 220 moves, the length of the first flexible transmission member 313 between the first driving wheel 311 and the first driven wheel 315 decreases, and the length of the first flexible transmission member 313 between the first transmission wheel 312 and the second transmission wheel 314 increases synchronously. At the same time, the length of the second flexible transmission member 324 between the second driving wheel 321 and the first driven wheel 315 decreases synchronously, and the length of the second flexible transmission member 324 between the third transmission wheel 322 and the fourth transmission wheel 323 increases synchronously.

[0061] It should be noted that when the second object 220 makes a linear motion relative to the first object 210, since the first driving wheel 311, the second driving wheel 321, the first transmission wheel 312, and the third transmission wheel 322 are rotationally connected to the first object 210, the second driven wheel 612, the fourth transmission wheel 323, and the first driven wheel 315 are rotationally connected to the second object 220, the length of the first flexible transmission member 313 between the first driving wheel 311 and the first transmission wheel 312 remains unchanged, the length of the first flexible transmission member 313 between the second transmission wheel 314 and the first driven wheel 315 remains unchanged, the length of the second flexible transmission member 324 between the second driving wheel 321 and the third transmission wheel 322 remains unchanged, and the length of the second flexible transmission member 324 between the fourth transmission wheel 323 and the first driven wheel 315 remains unchanged. When the second object 220 makes a linear motion relative to the first object 210, only the first driving wheel 311, the first transmission wheel 312, the second driving wheel 321, and the third transmission wheel 322 rotate and transmit, while the first driven wheel 315, the second transmission wheel 314, and the fourth transmission wheel 323 do not rotate.

[0062] However, when the second driven object 300 rotates, the first driving wheel 311, the first transmission wheel 312, the second transmission wheel 314, the second driving wheel 321, the third transmission wheel 322, the fourth transmission wheel 323, and the first driven wheel 315 all rotate and transmit power. However, the length of the flexible transmission member between each transmission wheel remains unchanged. It should be noted that the first driving wheel 311, the second driving wheel 321, the first transmission wheel 312, the second transmission wheel 314, the third transmission wheel 322, the fourth transmission wheel 323, and the first driven wheel 315 are all transmission wheels.

[0063] In some embodiments, when the second object 220 is extended to its longest length relative to the first object 210, the height of the lowest point of the first transmission wheel 312 is A, the height of the highest point of the second transmission wheel 314 is B, and B cannot be less than A; the height of the lowest point of the third transmission wheel 322 is C, the height of the highest point of the fourth transmission wheel 323 is D, and D cannot be less than C.

[0064] It should be noted that when the second object 220 is linearly extending relative to the first object 210, the second transmission wheel 314 and the fourth transmission wheel 323 cannot move downward any further after reaching a certain position. Otherwise, the first flexible transmission member 313 cannot drive the second object 220 downward relative to the first object 210 by applying a downward force to the second transmission wheel 314, and the second flexible transmission member 324 cannot drive the second object 220 downward relative to the first object 210 by applying a downward force to the fourth transmission wheel 323. For example, when the second object 220 is extended to its longest length relative to the first object 210, the lowest point of the first transmission wheel 312 is at a height A, and the highest point of the second transmission wheel 314 is at a height B. B cannot be lower than A. In this way, the first flexible transmission member 313 can drive the second object 220 downward relative to the first object 210 by applying a downward force to the second transmission wheel 314. When the second object 220 is extended to its longest length relative to the first object 210, the lowest point of the third transmission wheel 322 is at a height of C, and the highest point of the fourth transmission wheel 323 is at a height of D. D cannot be less than C. The second flexible transmission member 324 applies a downward force to the fourth transmission wheel 323, causing the second object 220 to move downward relative to the first object 210. Specifically, when the second transmission wheel 314 moves downward until it becomes tangential to the first transmission wheel 312, the second transmission wheel 314 cannot move further; and when the fourth transmission wheel 323 moves downward until it becomes tangential to the third transmission wheel 322, the fourth transmission wheel 323 cannot move further. In this application, the second object 220 is provided with a limit block, and the first object 210 is provided with a corresponding limit member. When the second object 220 moves downward to a certain position, the limit block abuts the limit member, preventing the second object 220 from moving further downward, thereby ensuring that B cannot be lower than A and C cannot be lower than D.

[0065] In some embodiments, when the rotation directions of the first flexible transmission member 313 and the second flexible transmission member 324 are the same and the output torques of the first motor 10 and the second motor 20 are the same, the torques applied by the first flexible transmission member 313 and the second flexible transmission member 324 on the first driven wheel 315 are in the same direction, and the upward pulling force applied by the first flexible transmission member 313 on the first driven wheel 315 and the downward pulling force applied by the second flexible transmission member 324 on the fourth transmission wheel 323 are the same in magnitude, or the upward pulling force applied by the second flexible transmission member 324 on the first driven wheel 315 and the downward pulling force applied by the first flexible transmission member 313 on the second transmission wheel 314 are the same in magnitude, the second object 220 is stationary relative to the first object 210, and the second driven object 300 rotates.

[0066] The rotation directions of the first flexible transmission member 313 and the second flexible transmission member 324 are opposite and the output torques of the first motor 10 and the second motor 20 are the same. The torques transmitted to the first driven wheel 315 by the first flexible transmission member 313 and the second flexible transmission member 324 are opposite in direction and the same in magnitude. The first flexible transmission member 313 and the second flexible transmission member 324 act as an upward pulling force on the first driven wheel 315 or the first flexible transmission member 313 acts as a downward pulling force on the second transmission wheel 314 and the second flexible transmission member 324 acts as a downward pulling force on the fourth transmission wheel 323. The second object 220 moves linearly in the up and down directions relative to the first object 210, and the second driven object 300 does not rotate.

[0067] The rotation directions of the first flexible transmission member 313 and the second flexible transmission member 324 are opposite and the output torques of the first motor 10 and the second motor 20 are different in magnitude. The torques applied by the first flexible transmission member 313 and the second flexible transmission member 324 on the first driven wheel 315 are opposite in direction but different in magnitude. The first flexible transmission member 313 and the second flexible transmission member 324 act as an upward pulling force on the first driven wheel 315 or the first flexible transmission member 313 acts as a downward pulling force on the second transmission wheel 314 and the second flexible transmission member 324 acts as a downward pulling force on the fourth transmission wheel 323. While the second object 220 moves linearly in the up and down directions relative to the first object 210, the second driven object 300 rotates.

[0068] The first flexible transmission member 313 and the second flexible transmission member 324 have the same rotation direction and the first motor 10 and the second motor 20 have different output torques. The first flexible transmission member 313 and the second flexible transmission member 324 have the same torque direction on the first driven wheel 315, and the upward pulling force of the first flexible transmission member 313 on the first driven wheel 315 and the downward pulling force of the second flexible transmission member 324 on the fourth transmission wheel 323 are different in magnitude, or the upward pulling force of the second flexible transmission member 324 on the first driven wheel 315 and the downward pulling force of the first flexible transmission member 313 on the second transmission wheel 314 are different in magnitude. While the second object 220 moves linearly in the up and down directions relative to the first object 210, the second driven object 300 rotates.

[0069] It should be noted that, in this embodiment, when the first motor 10 and the second motor 20 rotate in the same direction and the torques of the first motor 10 and the second motor 20 are the same, the second object 220 is stationary relative to the first object 210, and the second driven object 300 rotates.

[0070] When the first motor 10 and the second motor 20 rotate in opposite directions and the torques of the first motor 10 and the second motor 20 are the same, the second object 220 moves linearly in the vertical direction relative to the first object 210 , and the second driven object 300 does not rotate.

[0071] When the first motor 10 and the second motor 20 rotate in opposite directions and the torques of the first motor 10 and the second motor 20 are different, the second object 220 moves linearly in the vertical direction relative to the first object 210 , and the second driven object 300 rotates.

[0072] When the first motor 10 and the second motor 20 rotate in the same direction and the torques of the first motor 10 and the second motor 20 are different, the second object 220 moves linearly in the vertical direction relative to the first object 210 , and the second driven object 300 rotates.

[0073] It should be noted that the rotation directions of the two motors here are referenced to the earth. The following describes several scenarios for the two motors: When the two motors are set opposite each other (i.e., mirrored), with the earth as the reference, when one motor rotates counterclockwise, the other also rotates counterclockwise. However, if the motors are used as the reference, when one motor rotates counterclockwise, the other rotates clockwise. When the two motors are set apart but not mirrored, with the earth as the reference, when one motor rotates counterclockwise, the other also rotates counterclockwise. If the motors are used as the reference, when one motor rotates counterclockwise, the other also rotates counterclockwise.

[0074] It should be noted that, when the second object 220 moves downward relative to the first object 210, the first flexible transmission member 313 and the second flexible transmission member 324 respectively act on the second transmission wheel 314 and the fourth transmission wheel 323 to exert downward forces, or the upward pulling force of the first flexible transmission member 313 on the first driven wheel 315 is smaller than the downward force of the second flexible transmission member 324 on the fourth transmission wheel 323, or the upward pulling force of the second flexible transmission member 324 on the first driven wheel 315 is smaller than the downward force of the first flexible transmission member 313 on the second transmission wheel 314, so that the second object 220 as a whole is subjected to a combined force downward and is greater than the combined force, so that the second object 220 moves downward relative to the first object 210. Object 210 moves downward; when the second object 220 moves upward relative to the first object 210, the upward force exerted by the first flexible transmission member 313 and the second flexible transmission member 324 on the first driven wheel 315 is greater than the upward force exerted by the first flexible transmission member 313 on the first driven wheel 315, or the upward force exerted by the first flexible transmission member 313 on the first driven wheel 315 is greater than the downward force exerted by the second flexible transmission member 324 on the fourth transmission wheel 323, or the upward force exerted by the second flexible transmission member 324 on the first driven wheel 315 is greater than the downward force exerted by the first flexible transmission member 313 on the second transmission wheel 314, so that the second object 220 as a whole is subjected to an upward resultant force that is greater than the resultant force, so that the second object 220 moves upward relative to the first object 210.

[0075] In some embodiments, the sliding assembly 33 has a left and right direction, which is perpendicular to the up and down direction; the first motor 10 and the second motor 20 are symmetrically arranged in the left and right directions and rotate coaxially; the first flexible transmission member 313 and the second flexible transmission member 324 are mirror-imaged; the first transmission wheel 312 and the third transmission wheel 322 are symmetrically arranged; the second transmission wheel 314 and the fourth transmission wheel 323 are symmetrically arranged; the direction of the rotation axis of the first motor 10 and the second motor 20 is parallel to the direction of the rotation axis of the second driven object 300.

[0076] In this embodiment, the rotation axes of the first motor 10 , the second motor 20 , and the second driven object 300 are parallel to the left-right direction.

[0077] In some embodiments, the first motor 10 and the second motor 20 can rotate about different axes. The axes of the first motor 10 and the second motor 20 are parallel and staggered.

[0078] In this embodiment, the shafts of the first motor 10 and the second motor 20 are arranged relative to each other. In some other embodiments, the shafts of the first motor 10 and the second motor 20 may be nested with each other.

[0079] Because the downward and upward movement distance of the second object 220 is limited not only by the distance between the first transmission wheel 312 and the second transmission wheel 314, but also by the distance between the third transmission wheel 322 and the fourth transmission wheel 323, for example, when the extension of the second object 220 relative to the first object 210 is 0, the distance between the first transmission wheel 312 and the second transmission wheel 314 is E, and the distance between the third transmission wheel 322 and the fourth transmission wheel 323 is F. If E is less than F, the maximum movement distance of the second object 220 relative to the first object 210 is E, that is, the movement distance of the second object 220 is the smaller of E and F.

[0080] In this embodiment, the first flexible transmission member 313 and the second flexible transmission member 324 are arranged in a mirror image; the first transmission wheel 312 and the third transmission wheel 322 are arranged symmetrically; the second transmission wheel 314 and the fourth transmission wheel 323 are arranged symmetrically, so that the distance between E and F is consistent, making the structure compact and maximizing the moving stroke of the second object 220 within the limited structural space.

[0081] In this embodiment, the first driving wheel 311, the second transmission wheel 314, the fourth transmission wheel 323, the second driving wheel 321, and the first driven wheel 315 are synchronous pulleys, the first flexible transmission member 313 and the second flexible transmission member 324 are synchronous belts, the first flexible transmission member 313 is engaged with the first driving wheel 311, the first driven wheel 315, and the second transmission wheel 314 for transmission, and the second flexible transmission member 324 is engaged with the first driven wheel 315, the second driving wheel 321, and the fourth transmission wheel 323 for transmission; the first transmission wheel 312 and the third transmission wheel 322 are non-toothed rotating wheels, the non-toothed surface of the first flexible transmission member 313 is wound and connected with the first transmission wheel 312, and the non-toothed surface of the second flexible transmission member 324 is wound and connected with the third transmission wheel 322.

[0082] Optionally, the first flexible transmission member 313 and the second flexible transmission member 324 can also be ropes or other flexible transmission members, so as to play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the driving mechanism 100.

[0083] In this embodiment, the radii of the first driving wheel 311 and the second driving wheel 321 are identical, while the radius of the first driven wheel 315 is larger than those of the first driving wheel 311 and the second driving wheel 321. This facilitates increasing the transmission ratio between the driving wheel and the transmission wheel, thereby increasing the torque of the first driven wheel 315. For example, when the first driven object 200 is a leg of the robot 1000 and the second driven object 300 is a wheel assembly of the robot 1000, increasing the torque of the first driven wheel 315 facilitates adaptation to harsh environments such as rugged or muddy terrain, thereby enhancing the robot 1000's ability to overcome obstacles.

[0084] In this embodiment, the first transmission assembly 31 includes a first limiting member 316; the first limiting member 316 rotates on the second object 220; the first limiting member 316 is arranged between the first driving wheel 311 and the first driven wheel 315 and is arranged on the outside of the first flexible transmission member 313, and the first limiting member 316 is used to make the first flexible transmission member 313 between the first limiting member 316 and the first driving wheel 311 remain parallel to the up and down direction, so that when the first flexible transmission member 313 between the first driving wheel 311 and the first driven wheel 315 increases or decreases, the first flexible transmission member 313 between the first transmission wheel 312 and the second transmission wheel 314 can be correspondingly reduced or decreased synchronously Increase; the second transmission assembly 32 includes a second limiting member 325, and the second limiting member 325 is rotatably set on the second object 220; the second limiting member 325 is set between the second driving wheel 321 and the first driven wheel 315 and is set on the outside of the second flexible transmission member 324. The second limiting member 325 is used to make the second flexible transmission member 324 between the second limiting member 325 and the second driving wheel 321 remain parallel to the up and down directions, so that when the second flexible transmission member 324 between the second driving wheel 321 and the first driven wheel 315 increases or decreases, the second flexible transmission member 324 between the third transmission wheel 322 and the fourth transmission wheel 323 can be correspondingly reduced or increased synchronously.

[0085] When the cam 324 is in the unlocked position, the first and second limiting members 316 and 325 are rotated and set on the second object 220, and the first limiting member 316 is set on the outside of the first flexible transmission member 313 and the second limiting member 325 is set on the outside of the second flexible transmission member 324. In this way, not only can the first flexible transmission member 313 between the first limiting member 316 and the first driving wheel 311 and the second flexible transmission member 324 between the second limiting member 325 and the second driving wheel 321 remain parallel to the up and down directions, but also the flexible transmission member can be retracted toward the inside of the first driven object 200, thereby reducing the space occupied by the flexible transmission member.

[0086] Of course, the first limiting member 316 and the second limiting member 325 are rotatably set on the first object 210, but since the radius of the first driven wheel 315 is larger than the radius of the first driving wheel 311 and the second driving wheel 321, the first limiting member 316 and the second limiting member 325 need to be set on the inner sides of the first flexible transmission member 313 and the second flexible transmission member 324 respectively, so that the flexible transmission members between the first limiting member 316 and the first driven wheel 315 and the second limiting member 325 and the first driven wheel 315 remain parallel to the up and down directions, but this will cause the flexible transmission members to lean to the outside, which will take up more space.

[0087] It should be noted that, in other embodiments, the radius of the first driven wheel 315 may be smaller than the radius of the first driving wheel 311 and the second driving wheel 321 .

[0088] In other embodiments, the limiting member may also be other structures, such as a protrusion provided on the second object 220, which is provided on the outside of the flexible transmission member to keep the flexible transmission member between the first driving wheel 311 and the second driving wheel 321 and the limiting member parallel to the up and down directions.

[0089] In this embodiment, the first limiting member 316 and the second limiting member 325 are both non-toothed rollers; the first limiting member 316 is rotatably connected to the first flexible transmission member 313 ; the second limiting member 325 is rotatably connected to the second flexible transmission member 324 .

[0090] By configuring the limiting member as a roller, the friction between the limiting member and the flexible transmission member can be reduced.

[0091] In this embodiment, the first transmission assembly 31 includes a first pre-tightening wheel 317, which is rotatably set on the second object 220; the first pre-tightening wheel 317 is set on the outside of the first flexible transmission member 313 between the second transmission wheel 314 and the first driven wheel 315 and is rotatably connected to the first flexible transmission member 313; the second transmission assembly 32 includes a second pre-tightening wheel 326, which is rotatably set on the second object 220, and the second pre-tightening wheel 326 is set on the outside of the second flexible transmission member 324 between the fourth transmission wheel 323 and the first driven wheel 315 and is rotatably connected to the second flexible transmission member 324.

[0092] By setting the first pre-tightening wheel 317 and the second pre-tightening wheel 326, the flexible transmission member can be pre-tightened. At the same time, the first pre-tightening wheel 317 is set on the outside of the flexible transmission member between the second transmission wheel 314 and the first driven wheel 315, and the second pre-tightening wheel 326 is set on the outside of the flexible transmission member between the fourth transmission wheel 323 and the first driven wheel 315. The flexible transmission member can be retracted inward, thereby reducing the space occupied by the flexible transmission member.

[0093] like Figure 3 As shown, the sliding assembly 33 includes a guide assembly, which includes a guide rod 331 and a slide 332. The guide rod 331 is connected to the first object 210, and the slide 332 is set on the second object 220; the guide rod 331 extends in the up and down directions and passes through the slide 332 and is slidably connected to the slide 332.

[0094] By providing the guide component, the sliding of the second object 220 can be guided, so that the second object 220 moves in the up and down directions, thereby enhancing the stability of the second driving object 300 during extension and retraction.

[0095] In some embodiments, as Figures 9 to 12 As shown, the drive mechanism 100 also includes a third motor 40, a fourth motor 50 and a second transmission mechanism 60. The second transmission mechanism 60 is connected to the output shafts of the third motor 40 and the fourth motor 50. The third motor 40 and the fourth motor 50 are used to work together to drive the second transmission mechanism 60 to drive the first driven object 200 and the second driven object 300 to rotate as a whole around the first axis a. At the same time, they are also used to work together to drive the first driven object 200 and the second driven object 300 to rotate as a whole around the second axis b; the first axis a and the second axis b are not parallel.

[0096] The third motor 40 and the fourth motor 50 work together to coordinate the two-degree-of-freedom movement of the first driven object 200, so that the power sources of the third motor 40 and the fourth motor 50 are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, increase the operating speed of the equipment, and reduce the cost of use.

[0097] In this embodiment, the driving mechanism 100 also includes a mounting base 70, the upper end of the first driven object 200 is rotatably connected to the mounting base 70, and the third motor 40 and the fourth motor 50 are mounted on the mounting base 70; by arranging the third motor 40 and the fourth motor 50 on the mounting base 70; this is conducive to improving the center of gravity of the first driven object 200 and reducing the rotational inertia of the first driven object 200, thereby helping to reduce the energy consumption of the device and improve the response speed of the device.

[0098] In some embodiments, the driving mechanism 100 has a front-to-back direction and a left-to-right direction, the front-to-back direction is perpendicular to the left-to-right direction, the first axis a is parallel to the front-to-back direction, and the second axis b is parallel to the left-to-right direction.

[0099] The second transmission mechanism 60 includes a third transmission assembly 61 and a fourth transmission assembly 62; the third transmission assembly 61 includes a third driving wheel 611, at least one second driven wheel 612, and a third flexible transmission member 613; the third motor and the fourth motor are arranged opposite to each other; the third driving wheel 611 is connected to the output shaft of the third motor 40, and the second driven wheel 612 is fixedly connected to the first driven object 200; the third flexible transmission member 613 is connected to the third driving wheel 611 and the second driven wheel 612; the fourth transmission assembly 62 includes a fourth driving wheel 612 and a fourth flexible transmission member 622; the fourth driving wheel 612 is connected to The output shaft of the fourth motor 50 and the fourth flexible transmission member 622 are connected to the fourth driving wheel 612 and the second driven wheel 612; the fourth transmission assembly 62 is connected to the first driven object 200 through the second driven wheel 612; the rotation axes of the third driving wheel 611 and the fourth driving wheel 612 are coaxial; the third driving wheel 611 and the fourth driving wheel 612 rotate around the first axis a, and the second driven wheel 612 rotates around the second axis b; the first axis a and the second axis b are perpendicular to each other; when the second driven wheel 612 rotates around the first axis a, the first driven object 200 rotates with the rotation of the second driven wheel 612.

[0100] In this embodiment, the third transmission assembly 61 includes at least one second driven wheel 612. In other embodiments, the third transmission assembly 61 may include two second driven wheels 612. The third flexible transmission member 613 and the fourth flexible transmission member 622 are respectively connected to the second driven wheels 612. In this embodiment, by providing a single second driven wheel 612, two degrees of freedom of rotation of the first driven object 200 can be achieved.

[0101] In this embodiment, two degrees of freedom of rotation, namely, rotation about the first axis a and the second axis b, can be achieved through a flexible transmission member, resulting in a simple, compact structure and low cost. Of course, in other embodiments, multiple gear transmissions can also be used, without the need for a flexible transmission member to drive the first driven object 200 to rotate in two degrees of freedom.

[0102] In this embodiment, the third driving wheel 611 and the fourth driving wheel 612 rotate around the first axis a, and the second driven wheel 612 rotates around the second axis b.

[0103] Of course, in other embodiments, the third driving wheel 611 and the fourth driving wheel 612 may also rotate around the second axis b, and in this case, the second driven wheel 612 rotates around the first axis a.

[0104] In some embodiments, when the third flexible transmission member 613 and the fourth flexible transmission member 622 rotate in the same direction and the output torques of the third motor 40 and the fourth motor 50 are the same, the first driven object 200 rotates around the first axis a, and the first driven object 200 is stationary in the front-to-back direction; when the third flexible transmission member 613 and the fourth flexible transmission member 622 rotate in opposite directions and the output torques of the third motor 40 and the fourth motor 50 are the same, the first driven object 200 rotates around the second axis b, and the first driven object 200 is stationary in the left-to-right direction; when the third flexible transmission member 613 and the fourth flexible transmission member 622 rotate in opposite or same directions and the output torques of the third motor 40 and the fourth motor 50 are different, the first driven object 200 rotates around the first axis a and the second axis b at the same time.

[0105] In this embodiment, the third motor and the fourth motor are arranged opposite to each other; when the third motor 40 and the fourth motor 50 rotate in the same direction and the torque of the third motor 40 and the fourth motor 50 is the same, the first driven object 200 rotates around the first axis a, and the first driven object 200 is stationary in the front-to-back direction; when the third motor 40 and the fourth motor 50 rotate in opposite directions and the torque of the third motor 40 and the fourth motor 50 is the same, the first driven object 200 rotates around the second axis b, and the first driven object 200 is stationary in the left-to-right direction; when the third motor 40 and the fourth motor 50 rotate in opposite or same directions and the torque of the third motor 40 and the fourth motor 50 is different, the first driven object 200 rotates around the first axis a and the second axis b at the same time.

[0106] It should be noted that the rotation directions of the two motors here are referenced to the earth. The following describes several scenarios for the two motors: When the two motors are set opposite each other (i.e., mirrored), with the earth as the reference, when one motor rotates counterclockwise, the other also rotates counterclockwise. However, if the motors are used as the reference, if one motor rotates counterclockwise, the other also rotates clockwise. When the two motors are set apart but not mirrored, with the earth as the reference, if one motor rotates counterclockwise, the other also rotates counterclockwise. If the motors are used as the reference, if one motor rotates counterclockwise, the other also rotates counterclockwise.

[0107] In some embodiments, the radius of the third driving wheel 611 and the fourth driving wheel 612 are the same, and the radius of the second driven wheel 612 is larger than the radius of the third driving wheel 611 and the fourth driving wheel 612. This is beneficial to increase the transmission ratio between the driving wheel and the transmission wheel and increase the torque of the second driven wheel 612.

[0108] like Figures 9 and 10In this embodiment, the driving mechanism 100 includes a support frame 80, which is rotatably connected to the first driving object 200; when the first driving object 200 rotates around the first axis a, the support frame 80 and the first driving object rotate around the first axis as a whole; when the first driving object 200 rotates around the second axis b, the support frame 80 remains stationary; the third transmission assembly 61 includes at least one fifth transmission wheel 614 and at least one sixth transmission wheel 615, and the fifth transmission wheel 614 and the sixth transmission wheel 615 are rotatably arranged on the upper and lower sides of the support frame 80; the fourth transmission assembly 62 includes at least a seventh transmission wheel 623 and at least an eighth transmission wheel 624, and the seventh transmission wheel 623 and the eighth transmission wheel 624 are rotatably arranged on the upper and lower sides of the support frame 80; the fifth transmission wheel 614 and the sixth transmission wheel 615 are transmission-connected to the third flexible transmission member 613; the seventh transmission wheel 623 and the eighth transmission wheel 624 are transmission-connected to the fourth flexible transmission member 622.

[0109] By setting up the support frame 80, the support frame 80 is provided with a fifth transmission wheel 614, a sixth transmission wheel 615, a seventh transmission wheel 623, and an eighth transmission wheel 624. By setting up these transmission wheels, when the motor drives the first driven object 200 to rotate around the second axis b, the flexible transmission member can transmit force to the support frame 80 through the fifth transmission wheel 614, the sixth transmission wheel 615, the seventh transmission wheel 623, and the eighth transmission wheel 624, and the support frame 80 drives the first driven object 200 to rotate around the second axis b. In this way, there is no need to drive the first driven object 200 to rotate only through the second driven wheel 612, so that the structural stability of the equipment is improved.

[0110] In some embodiments, the third driving wheel 611, the second driven wheel 612, and the fourth driving wheel 612 are synchronous pulleys, and the third flexible transmission member 613 and the fourth flexible transmission member 622 are synchronous belts; after the third flexible transmission member 613 is flipped, the non-toothed surface of the third flexible transmission member 613 is transmission-connected to the fifth transmission wheel 614 and the sixth transmission wheel 615; after the fourth flexible transmission member 622 is flipped, the non-toothed surface of the fourth flexible transmission member 622 is transmission-connected to the seventh transmission wheel 623 and the eighth transmission wheel 624.

[0111] Optionally, the third flexible transmission member 613 and the fourth flexible transmission member 622 can also be ropes or other flexible transmission members, so as to play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the driving mechanism 100.

[0112] In some embodiments, the support frame 80 includes a first connecting frame 81, a second connecting frame 82 and a third connecting frame 83, and the first connecting frame 81, the second connecting frame 82 and the third connecting frame 83 are connected; the third connecting frame 83 is rotationally connected to the first driving object 200; the third motor 40 and the fourth motor 50 are symmetrically arranged; the first connecting frame 81 is arranged on the side of the third driving wheel 611 away from the third motor 40; the second connecting frame 82 is arranged on the side of the fourth driving wheel 612 away from the fourth motor 50; the first motor 10 is arranged between the third motor 40 and the fourth motor 50 and is located in the space enclosed by the first connecting frame 81, the second connecting frame 82 and the third connecting frame 83.

[0113] By setting the support frame 80 into a first connecting frame 81, a second connecting frame 82 and a third connecting frame 83, the first connecting frame 81 and the second connecting frame 82 are respectively set on the sides of the third motor 40 and the fourth motor 50, which can limit the third motor 40 and the fourth motor 50 and improve the stability of the motor.

[0114] At the same time, the first motor 10 is arranged in the space enclosed by the first connecting frame 81, the second connecting frame 82 and the third connecting frame 83, which can improve space utilization.

[0115] In some embodiments, the motor frame 11 of the first motor 10 is fixedly connected to the second driven wheel 612 , and the motor frame 11 rotates as the second driven wheel 612 rotates. The motor frame 11 is used to fix the motor.

[0116] The support frame 80 further includes a fourth connecting frame 84, which is connected to the first connecting frame 81 and the second connecting frame 82. The first motor 10 is located in the space enclosed by the first connecting frame 81, the second connecting frame 82, the third connecting frame 83, and the fourth connecting frame 84. The fourth connecting frame 84 is rotatably connected to the motor frame 11. By connecting the motor frame 11 to the support frame 80 and supporting the first motor 10 with the connecting frame, the stability of the structure can be improved.

[0117] like Figure 2 As shown, the driving mechanism 100 includes a frame 90, the first driving object 200 is mounted on the frame 90, and the frame 90 is provided with a through hole 91; the output shaft of the first motor 10 passes through the through hole 91 and is rotatably connected to the frame 90; the frame 90 is fixedly connected to the second driven wheel 612 and is rotatably connected to the third connecting frame 83.

[0118] Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without mutual contradiction.

[0119] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A driving mechanism, characterized in that: include: frame; A first motor is mounted on the frame; Second motor; Installed on the frame; a first transmission mechanism connected to the output shafts of the first motor and the second motor and used to connect the first driven object and the second driven object; Among them, the first motor and the second motor are used to work together to drive the first transmission mechanism to drive the second drive object to rotate relative to the first drive object, and the first motor and the second motor are also used to work together to drive the first transmission mechanism to drive the first drive object to perform linear telescopic motion.

2. The driving mechanism according to claim 1, wherein: The first motor and the second motor are connected to the upper end of the first driving object.

3. The driving mechanism according to claim 2, wherein: The first driven object includes a first object and a second object; The first transmission mechanism includes a first transmission assembly, a second transmission assembly, and a sliding assembly, wherein the sliding assembly is provided between the first object and the second object for slidingly connecting the first object and the second object; The first transmission assembly is connected to the output shaft of the first motor and is connected to the first object, the second object, and the second driven object; the second transmission assembly is connected to the output shaft of the second motor and is connected to the first object and the second object; The first motor and the second motor are used to respectively drive the first transmission assembly and the second transmission assembly to cooperate with each other to drive the second driven object to rotate relative to the second object. The first motor and the second motor are also used to respectively drive the first transmission assembly and the second transmission assembly to cooperate with each other to drive the second object to move linearly in the up and down directions relative to the first object to achieve linear telescopic movement of the first driven object, and the up and down directions are the extension directions of the sliding assembly.

4. The driving mechanism according to claim 3, wherein: The first transmission assembly includes a first driving wheel, at least one first transmission wheel, at least one second transmission wheel, a first flexible transmission member and at least one first driven wheel; The second transmission assembly includes a second driving wheel, at least one third transmission wheel, at least one fourth transmission wheel and a second flexible transmission member; The first driving wheel is connected to the output shaft of the first motor, the first driven wheel is rotationally connected to the second object and connected to the second driven object, and when the first driven wheel rotates, it can drive the second driven object to rotate; The second driving wheel is connected to the output shaft of the second motor; The first transmission wheel is disposed between the first driving wheel and the first driven wheel and is rotatably disposed on the first object; The first transmission wheel is disposed between the first driving wheel and the first driven wheel and is rotatably disposed on the first object; The second transmission wheel is rotatably mounted on the second object, and when the second object is at its longest extension relative to the first object, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the first transmission wheel; The third transmission wheel is disposed between the second driving wheel and the first driven wheel and is rotatably disposed on the first object; The fourth transmission wheel is rotatably mounted on the second object. When the second object is at its longest extension relative to the first object, the height of the highest point of the fourth transmission wheel is not lower than the height of the lowest point of the third transmission wheel. The first flexible transmission member is in transmission connection with the first driving wheel, the first transmission wheel, the second transmission wheel, and the first driven wheel to form a closed transmission loop; The second flexible transmission member is in transmission connection with the second driving wheel, the third transmission wheel, the fourth transmission wheel, and the first driven wheel to form a closed transmission loop; The flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the first transmission wheel and the second transmission wheel is at least partially configured to be parallel to the up-down direction; At least a portion of the flexible transmission member between the third transmission wheel and the fourth transmission wheel is configured to be parallel to the up-down direction.

5. The driving mechanism according to claim 4, wherein: The entire section of the flexible transmission member between the first transmission wheel and the second transmission wheel is configured to be parallel to the up-down direction, and the entire section of the flexible transmission member between the third transmission wheel and the fourth transmission wheel is configured to be parallel to the up-down direction.

6. The driving mechanism according to claim 5, wherein: When the second object is extended to its longest length relative to the first object, the height of the lowest point of the first transmission wheel is A, the height of the highest point of the second transmission wheel is B, and B cannot be less than A. The height of the lowest point of the third transmission wheel is C, and the height of the highest point of the fourth transmission wheel is D, and D cannot be less than C.

7. The driving mechanism according to claim 6, wherein: When the first flexible transmission member and the second flexible transmission member rotate in the same direction and the first motor and the second motor have the same output torque, the first flexible transmission member and the second flexible transmission member exert the same torque on the first driven wheel in the same direction, and the upward pulling force exerted by the first flexible transmission member on the first driven wheel and the downward pulling force exerted by the second flexible transmission member on the fourth transmission wheel are the same in magnitude, or the upward pulling force exerted by the second flexible transmission member on the first driven wheel and the downward pulling force exerted by the first flexible transmission member on the second transmission wheel are the same in magnitude, the second object is stationary relative to the first object, and the second driven object rotates; The first flexible transmission member and the second flexible transmission member rotate in opposite directions and the first motor and the second motor have the same output torque, the first flexible transmission member and the second flexible transmission member transmit torques to the first driven wheel in opposite directions and have the same magnitude, and the first flexible transmission member and the second flexible transmission member apply an upward pulling force to the first driven wheel or the first flexible transmission member applies a downward pulling force to the second transmission wheel and the second flexible transmission member applies a downward pulling force to the fourth transmission wheel, and the second object moves linearly in the vertical direction relative to the first object, and the second driven object does not rotate; The first flexible transmission member and the second flexible transmission member rotate in opposite directions, and the first motor and the second motor have different output torques. The first flexible transmission member and the second flexible transmission member exert torques on the first driven wheel in opposite directions but different in magnitude. The first flexible transmission member and the second flexible transmission member exert upward pulling forces on the first driven wheel, or the first flexible transmission member exerts downward pulling forces on the second transmission wheel and the second flexible transmission member exerts downward pulling forces on the fourth transmission wheel. When the second object moves linearly in the vertical direction relative to the first object, the second driven object rotates. The first and second flexible transmission members have the same rotation direction and the first motor and the second motor have different output torques, the first flexible transmission member and the second flexible transmission member have the same torque direction on the first driven wheel, and the upward pulling force of the first flexible transmission member on the first driven wheel and the downward pulling force of the second flexible transmission member on the fourth transmission wheel are different in magnitude, or the upward pulling force of the second flexible transmission member on the first driven wheel and the downward pulling force of the first flexible transmission member on the second transmission wheel are different in magnitude, and while the second object moves linearly in the up and down directions relative to the first object, the second driven object rotates.

8. The driving mechanism according to claim 6, wherein: The first driving object has a left-right direction, the left-right direction being perpendicular to the up-down direction; The first motor and the second motor are symmetrically arranged in the left-right direction and rotate coaxially; The first flexible transmission member and the second flexible transmission member are arranged in a mirror image; The first transmission wheel and the third transmission wheel are symmetrically arranged; The second transmission wheel and the fourth transmission wheel are symmetrically arranged.

9. The driving mechanism according to claim 8, wherein: The first driving wheel, the second transmission wheel, the fourth transmission wheel, the second driving wheel, and the first driven wheel are synchronous pulleys, the first flexible transmission member and the second flexible transmission member are synchronous belts, the first flexible transmission member is engaged with the first driving wheel, the first driven wheel, and the second transmission wheel for transmission, and the second flexible transmission member is engaged with the first driven wheel, the second driving wheel, and the fourth transmission wheel for transmission; The first transmission wheel and the third transmission wheel are non-toothed rotating wheels. The non-toothed surface of the first flexible transmission member is wound and connected with the first transmission wheel, and the non-toothed surface of the second flexible transmission member is wound and connected with the third transmission wheel.

10. The driving mechanism according to claim 9, wherein: The radius of the first driving wheel is consistent with that of the second driving wheel, and the radius of the first driven wheel is larger than that of the first driving wheel and the second driving wheel.

11. The driving mechanism according to claim 10, wherein: The first transmission assembly includes a first limiting member, which is rotatably disposed on the second object; The first limiting member is disposed between the first driving wheel and the first driven wheel and outside the first flexible transmission member. The first limiting member is configured to keep the first flexible transmission member between the first limiting member and the first driving wheel parallel to the up-down direction, so that when the first flexible transmission member between the first driving wheel and the first driven wheel increases or decreases, the first flexible transmission member between the first transmission wheel and the second transmission wheel can correspondingly decrease or increase synchronously. The second transmission assembly includes a second limiting member, which is rotatably set on a second object, and the second limiting member is set between the second driving wheel and the first driven wheel and on the outside of the second flexible transmission member. The second limiting member is used to make the second flexible transmission member between the second limiting member and the second driving wheel remain parallel to the up and down directions, so that when the second flexible transmission member between the second driving wheel and the first driven wheel increases or decreases, the second flexible transmission member between the third transmission wheel and the fourth transmission wheel can be correspondingly reduced or increased synchronously.

12. The driving mechanism according to claim 11, wherein: The first limiting member and the second limiting member are both non-toothed rollers; The first limiting member is rotatably connected to the first flexible transmission member; The second limiting member is rotatably connected to the second flexible transmission member.

13. The driving mechanism according to claim 12, wherein: The first transmission assembly includes a first pre-tightening wheel, and the first pre-tightening wheel is rotatably disposed on the second object; The first preload wheel is arranged outside the first flexible transmission member between the second transmission wheel and the first driven wheel and is rotatably connected to the first flexible transmission member; The second transmission assembly includes a second pre-tightening wheel, which is rotatably arranged on the second object. The second pre-tightening wheel is arranged outside the second flexible transmission member between the fourth transmission wheel and the first driven wheel and is rotatably connected to the second flexible transmission member.

14. The driving mechanism according to claim 13, wherein: The sliding assembly includes a guide assembly, the guide assembly includes a guide rod and a slide seat, the guide rod is connected to the first object, and the slide seat is arranged on the second object; The guide rod extends in the up-down direction and passes through the slide seat and is slidably connected to the slide seat.

15. The driving mechanism according to any one of claims 1 to 14, characterized in that: The drive mechanism further includes a third motor, a fourth motor, and a second transmission mechanism, wherein the second transmission mechanism is connected to the output shafts of the third motor and the fourth motor, and the third motor and the fourth motor are used to cooperate with each other to drive the second transmission mechanism to drive the first driven object and the second driven object to rotate as a whole around the first axis, and are also used to cooperate with each other to drive the first driven object and the second driven object to rotate as a whole around the second axis; The first axis and the second axis are non-parallel.

16. The driving mechanism according to claim 15, wherein: The driving mechanism further includes a mounting seat, the upper end of the first driving object is rotatably connected to the mounting seat, and the third motor and the fourth motor are mounted on the mounting seat; The driving mechanism has a front-to-back direction and a left-to-right direction, the front-to-back direction is perpendicular to the left-to-right direction, the first axis is parallel to the front-to-back direction, and the second axis is parallel to the left-to-right direction; The second transmission mechanism includes a third transmission assembly and a fourth transmission assembly; The third motor and the fourth motor are arranged opposite to each other; The third transmission assembly includes a third driving wheel, at least one second driven wheel, and a third flexible transmission member; The third driving wheel is connected to the output shaft of the third motor, and the second driven wheel is fixedly connected to the first driven object; The third flexible transmission member is connected to the third driving wheel and the second driven wheel; The fourth transmission assembly includes a fourth driving wheel and a fourth flexible transmission member; The fourth driving wheel is connected to the output shaft of the fourth motor, and the fourth flexible transmission member is connected to the fourth driving wheel and the second driven wheel; The fourth transmission assembly is connected to the first driven object via the second driven wheel; The rotation axes of the third driving wheel and the fourth driving wheel are coaxial; The third driving wheel and the fourth driving wheel rotate around a first axis, and the second driven wheel rotates around a second axis; The first axis and the second axis are perpendicular to each other; When the second driven wheel rotates around the first axis, the first driven object rotates along with the rotation of the second driven wheel.

17. The driving mechanism according to claim 16, wherein: When the third flexible transmission member and the fourth flexible transmission member rotate in the same direction and the output torques of the third motor and the fourth motor are equal in magnitude, the first driven object rotates around the first axis and the first driven object remains stationary in the front-to-back direction; When the third flexible transmission member and the fourth flexible transmission member rotate in opposite directions and the output torques of the third motor and the fourth motor are equal, the first driven object rotates around the second axis and the first driven object remains stationary in the left-right direction; When the third flexible transmission member and the fourth flexible transmission member rotate in opposite or same directions and the output torques of the third motor and the fourth motor are different in magnitude, the first driven object rotates around the first axis and the second axis simultaneously.

18. The driving mechanism according to claim 16, wherein: The driving mechanism further includes a support frame, the support frame being rotatably connected to the first driving object; When the first driven object rotates around the first axis, the support frame and the first driven object rotate around the first axis as a whole; the support frame does not move; When the first driven object rotates around the second axis, the support frame remains stationary; The third transmission assembly includes at least one fifth transmission wheel and at least one sixth transmission wheel, and the fifth transmission wheel and the sixth transmission wheel are rotatably arranged on the upper and lower sides of the support frame; The fourth transmission assembly includes at least one seventh transmission wheel and at least one eighth transmission wheel, and the seventh transmission wheel and the eighth transmission wheel are rotatably arranged on the upper and lower sides of the support frame; The fifth transmission wheel and the sixth transmission wheel are in transmission connection with the third flexible transmission member; The seventh transmission wheel and the eighth transmission wheel are in transmission connection with the fourth flexible transmission member.

19. The driving mechanism according to claim 18, wherein: The third driving wheel, the second driven wheel, and the fourth driving wheel are synchronous pulleys, and the third flexible transmission member and the fourth flexible transmission member are synchronous belts; After the third flexible transmission member is turned over, the non-toothed surface of the third flexible transmission member is in transmission connection with the fifth transmission wheel and the sixth transmission wheel; After the fourth flexible transmission member is turned over, the non-toothed surface of the fourth flexible transmission member is in transmission connection with the seventh transmission wheel and the eighth transmission wheel.

20. The driving mechanism according to claim 19, wherein: The support frame includes a first connecting frame, a second connecting frame and a third connecting frame, wherein the first connecting frame, the second connecting frame and the third connecting frame are connected; The third connecting frame is rotationally connected to the first driving object, the third motor and the fourth motor are symmetrically arranged, the first connecting frame is arranged on a side of the third driving wheel away from the third motor, the second connecting frame is arranged on a side of the fourth driving wheel away from the fourth motor, and the first motor is arranged between the third motor and the fourth motor and is located in a space enclosed by the first connecting frame, the second connecting frame and the third connecting frame.

21. The driving mechanism according to claim 20, wherein: The motor frame of the first motor is fixedly connected to the second driven wheel, and the motor frame rotates as the second driven wheel rotates. The motor frame is used to fix the motor; The support frame also includes a fourth connecting frame, which is connected to the first connecting frame and the second connecting frame. The first motor is located in a space enclosed by the first connecting frame, the second connecting frame, the third connecting frame, and the fourth connecting frame. The fourth connecting frame is rotatably connected to the motor frame.

22. The driving mechanism according to claim 21, wherein: The driving mechanism includes a frame, the first driving object is installed on the frame, and the frame is provided with a through hole; the output shaft of the first motor passes through the through hole and is rotatably connected to the frame; the frame is fixedly connected to the second driven wheel and is rotatably connected to the third connecting frame.

Images