Transmission mechanism and robot having the same

Abstract

The utility model provides a kind of transmission mechanism and the robot with it, transmission mechanism includes: shell, first limit slot body is provided on shell;First transmission component, first transmission component is rotatably set relative shell;Second transmission component, second transmission component is rotatably set relative shell, the axis direction of first transmission component is perpendicular with the axis direction of second transmission component, second transmission component is engaged with first transmission component, first transmission component is driven target component rotation by second transmission component;First limiting component, it is set on second transmission component;At least part of first limiting component is embedded in first limit slot body, so that first limit slot body is limited to second transmission component by first limiting component. The present application solves the problem of the output gear shaft shaking in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a transmission mechanism and a robot having the same. Background Technology

[0002] In the field of robotics technology, such as humanoid robotic arms and robotic dogs, power transmission is often achieved through bevel gear meshing.

[0003] However, due to manufacturing and assembly tolerances, backlash (tooth clearance) is unavoidable between the meshing surfaces of bevel gears. During system operation, especially when the input end is locked stationary by the brake while the output end is subjected to inertial forces or external loads, the output bevel gear will experience unexpected eccentric movement due to the tooth clearance, leading to radial runout and overturning oscillation of the output shaft. This micro-motion not only causes vibration and noise in the transmission chain and exacerbates impact wear on the tooth surface, but more seriously, it causes the accumulation of positioning errors, making it impossible for the robotic arm end effector to achieve high-precision positioning, which greatly limits its application in high-dynamic and high-precision scenarios such as precision assembly, minimally invasive surgery, and micro-operations. Utility Model Content

[0004] The main objective of this invention is to provide a transmission mechanism and a robot having the same, in order to solve the problem of output gear shaft wobbling in the prior art.

[0005] To achieve the above objectives, according to one aspect of the present invention, a transmission mechanism is provided, comprising: a housing, on which a first limiting groove is provided; a first transmission component, rotatably disposed relative to the housing; a second transmission component, rotatably disposed relative to the housing, wherein the axial direction of the first transmission component is perpendicular to the axial direction of the second transmission component, the second transmission component meshes with the first transmission component, and the first transmission component drives a target component to rotate via the second transmission component; and a first limiting component, sleeved on the second transmission component; at least a portion of the first limiting component is embedded in the first limiting groove, such that the first limiting groove limits the axial direction of the second transmission component via the first limiting component.

[0006] Furthermore, the second transmission component is provided with a first limiting step, which extends along the circumferential direction of the second transmission component, and the inner wall surface of the first limiting component abuts against the step surface of the first limiting step.

[0007] Furthermore, the second transmission assembly is provided with a second limiting groove, which extends along the circumferential direction of the second transmission assembly and is located on the side of the first limiting step; the transmission mechanism also includes: a first retaining ring structure, which is sleeved on the second transmission assembly, at least a portion of the first retaining ring structure is embedded in the second limiting groove, and both sides of the first limiting component are respectively attached to the sidewalls of the first retaining ring structure and the first limiting step to limit the first limiting component.

[0008] Furthermore, the second transmission component includes: an output bevel gear disposed within the housing, the output bevel gear meshing with the first transmission component; an output connecting component connected to the output bevel gear; a first limiting component sleeved on the output connecting component; and the output connecting component being used to connect with the target component.

[0009] Furthermore, the first limiting component includes a first bearing, which is sleeved on the second transmission assembly, and at least a portion of the first bearing is embedded in the first limiting groove to limit the second transmission assembly.

[0010] Furthermore, the housing includes: a first outer shell, on which a first limiting groove is provided; and a second outer shell, detachably connected to the first outer shell, on which a second limiting groove is provided, wherein the first limiting groove and the second limiting groove communicate to form a first limiting groove body.

[0011] Furthermore, the second transmission assembly includes an output bevel gear disposed within the housing; there are two first transmission assemblies, each of which includes a drive bevel gear disposed within the housing, the axial direction of each drive bevel gear being perpendicular to the axial direction of the output bevel gear; the two drive bevel gears are arranged opposite each other and spaced apart, at least a portion of the output bevel gear is disposed between the two drive bevel gears, and the two drive bevel gears mesh with the output bevel gear to drive the output bevel gear to rotate.

[0012] Furthermore, the first transmission assembly also includes: a drive connecting component connected to a drive bevel gear, the drive connecting component being provided with a second limiting step, the second limiting step extending in the circumferential direction of the drive connecting component; the transmission mechanism also includes: a second limiting component, the second limiting component being sleeved on the drive connecting component, the inner wall surface of the second limiting component abutting against the step surface of the second limiting step.

[0013] Furthermore, the drive connection component is provided with a third limiting groove, which extends along the circumferential direction of the drive connection component; the transmission mechanism also includes: a second retaining ring structure, which is sleeved on the drive connection component, at least a portion of the second retaining ring structure is embedded in the third limiting groove, and both sides of the second limiting component are respectively attached to the sidewalls of the second retaining ring structure and the second limiting step to limit the second limiting component.

[0014] Furthermore, a fourth limiting groove is provided on the housing; the second limiting component includes: a second bearing, at least a portion of which is embedded in the fourth limiting groove, and the inner wall surface of the second bearing abuts against the step surface of the second limiting step, so that the fourth limiting groove limits the axial direction of the first transmission component through the second bearing.

[0015] Furthermore, the housing includes: a first outer shell, on which a third limiting groove is provided; and a second outer shell, detachably connected to the first outer shell, on which a fourth limiting groove is provided, wherein the third limiting groove and the fourth limiting groove are connected to form a fourth limiting groove body.

[0016] This utility model also provides a robot, including a robotic arm and a transmission mechanism, wherein the transmission mechanism is disposed on the robotic arm and is the aforementioned transmission mechanism.

[0017] By applying the technical solution of this utility model, a first limiting groove is provided on the housing, and the first transmission component and the second transmission component are perpendicularly meshed with each other. The rotation of the first transmission component drives the second transmission component to rotate the target component. To suppress the eccentric rotation of the second transmission component caused by backlash when the first transmission component suddenly stops, the first limiting component is sleeved on the second transmission component, and at least partially embedded in the first limiting groove, which can geometrically constrain the axial direction of the second transmission component. When the first transmission component stops rotating, the first limiting groove restricts the axial displacement of the second transmission component through the first limiting component, preventing it from eccentric oscillation caused by meshing clearance, thereby ensuring that the motion trajectory of the second transmission component is stable and without deviation. With this configuration, no additional braking or damping device is required. The active suppression of eccentric rotation of the output shaft caused by backlash in the transmission system is achieved solely through the cooperation of the first limiting groove and the first limiting component, solving the problem of output gear shaft wobbling in the prior art and improving transmission accuracy and system reliability. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0019] Figure 1 A schematic diagram of an embodiment of the transmission mechanism according to the present invention is shown;

[0020] Figure 2 A schematic diagram of a first transmission component according to an embodiment of the transmission mechanism of the present invention is shown;

[0021] Figure 3 A schematic diagram showing the assembly of a first transmission component and a second transmission component according to an embodiment of the transmission mechanism of the present invention is shown;

[0022] Figure 4 A schematic diagram of the first housing according to an embodiment of the transmission mechanism of the present invention is shown;

[0023] Figure 5 A schematic diagram of the second housing according to an embodiment of the transmission mechanism of the present invention is shown;

[0024] Figure 6 A schematic diagram of the first limiting step according to an embodiment of the transmission mechanism of the present invention is shown.

[0025] The above figures include the following reference numerals:

[0026] 100. Shell; 110. First limiting groove; 120. Fourth limiting groove; 130. First outer shell; 131. First limiting groove segment; 132. Third limiting groove segment; 140. Second outer shell; 141. Second limiting groove segment; 142. Fourth limiting groove segment;

[0027] 200, First transmission assembly; 210, Drive bevel gear; 220, Drive connection component; 221, Third limiting groove; 230, Second limiting component; 231, Second bearing; 240, Second retaining ring structure;

[0028] 300. Second transmission assembly; 310. First limiting component; 311. First bearing; 320. First limiting step; 330. Second limiting groove; 340. First retaining ring structure; 350. Output bevel gear; 360. Output connection component;

[0029] 400. Auxiliary bevel gear. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] As mentioned in the background section, due to manufacturing and assembly tolerances, backlash inevitably exists between the meshing surfaces of bevel gears. During system operation, especially when the input end is locked stationary by the brake while the output end is subjected to inertial forces or external loads, the output bevel gear will experience unexpected eccentric movement due to the backlash, leading to radial runout and overturning oscillation of the output shaft. This micro-motion not only causes vibration and noise in the transmission chain and exacerbates impact wear on the tooth surface, but more seriously, it causes the accumulation of positioning errors, making it impossible for the robotic arm end effector to achieve high-precision positioning, which greatly limits its application in high-dynamic and high-precision scenarios such as precision assembly, minimally invasive surgery, and micro-operations. Therefore, to address the aforementioned technical problems, the transmission mechanism proposed in this application includes a housing 100, a first transmission component 200, a second transmission component 300, and a first limiting component 310. A first limiting groove 110 is provided on the housing 100. The first transmission component 200 is rotatably disposed relative to the housing 100, and the second transmission component 300 is rotatably disposed relative to the housing 100. The axial direction of the first transmission component 200 is perpendicular to the axial direction of the second transmission component 300. The second transmission component 300 meshes with the first transmission component 200, and the first transmission component 200 drives the target component to rotate via the second transmission component 300. In this application, the first limiting component 310 is sleeved on the second transmission component 300, and at least a portion of the first limiting component 310 is embedded within the first limiting groove 110, so that the first limiting groove 110 forms radial and axial limiting constraints on the second transmission component 300 via the first limiting component 310. When the first transmission component 200 stops rotating, the cooperation between the first limiting groove 110 and the first limiting component 310 effectively prevents the second transmission component 300 from shifting or swaying due to the meshing gap, thus solving the problem of output gear shaft wobbling in the prior art.

[0032] Please refer to Figures 1 to 6 This application provides a transmission mechanism, comprising: a housing 100, on which a first limiting groove 110 is provided; a first transmission component 200, rotatably disposed relative to the housing 100; a second transmission component 300, rotatably disposed relative to the housing 100, wherein the axial direction of the first transmission component 200 is perpendicular to the axial direction of the second transmission component 300, the second transmission component 300 meshes with the first transmission component 200, and the first transmission component 200 drives a target component to rotate via the second transmission component 300; and a first limiting component 310, sleeved on the second transmission component 300; at least a portion of the first limiting component 310 is embedded in the first limiting groove 110, so that the first limiting groove 110 limits the second transmission component 300 via the first limiting component 310.

[0033] The housing 100 provided in this application adopts a split structure, which is formed by fastening the first outer shell 130 and the second outer shell 140 with bolts to form a sealed container for fixing the first transmission component 200 and the second transmission component 300.

[0034] The first transmission component 200 serves as a power input end, used to connect to a drive source (such as a servo motor). The second transmission component 300 serves as a power output end, used to drive the target component (such as a humanoid robotic arm joint). The axes of the first transmission component 200 and the second transmission component 300 are perpendicular to each other. The first transmission component 200 and the second transmission component 300 can rotate around their own axes relative to the housing 100. The two components mesh to achieve power transmission. The first transmission component 200 drives the target component to rotate through the second transmission component 300.

[0035] This application utilizes a first limiting groove 110 provided on the housing 100, where a first transmission component 200 and a second transmission component 300 are perpendicularly meshed with each other. The rotation of the first transmission component 200 drives the second transmission component 300 to rotate, thereby causing the target component to rotate. To suppress the eccentric rotation of the second transmission component 300 due to backlash when the first transmission component 200 suddenly stops, a first limiting component 310 is sleeved on the second transmission component 300, and at least partially embedded in the first limiting groove 110, thereby providing geometric constraints on the axial direction of the second transmission component 300. When the first transmission component 200 stops rotating... When in motion, the first limiting groove 110 forms radial and axial limiting constraints on the second transmission component 300 through the first limiting component 310, preventing the second transmission component 300 from eccentric oscillation caused by meshing clearance, thereby ensuring that the movement trajectory of the second transmission component 300 is stable and without deviation. With this setting, no additional braking or damping device is required. The active suppression of output shaft eccentric rotation caused by backlash in the transmission system is achieved solely through the cooperation of the first limiting groove 110 and the first limiting component 310. This solves the problem of output gear shaft wobbling in the prior art and improves transmission accuracy and system reliability.

[0036] Furthermore, such as Figure 1 , Figure 4 and Figure 5 As shown, the housing 100 includes a first outer shell 130 and a second outer shell 140 that are detachably connected. The first outer shell 130 is provided with a first limiting groove segment 131, and the second outer shell 140 is provided with a second limiting groove segment 141. The first limiting groove segment and the second limiting groove segment are arranged opposite to each other and are connected to form a first limiting groove body 110.

[0037] An optional embodiment provided in this application, such as Figure 2 and Figure 6As shown, the second transmission component 300 is provided with a first limiting step 320, which extends along the circumferential direction of the second transmission component 300, and the inner wall surface of the first limiting component 310 abuts against the step surface of the first limiting step 320.

[0038] In this embodiment, the first limiting step 320 forms a rigid block on the first limiting component 310 in the axial direction, preventing it from sliding or shifting relative to the second transmission component 300 in the axial direction. Combined with the structure in which the first limiting component 310 is at least partially embedded in the first limiting groove, the abutment relationship between the first limiting component 310 and the first limiting step 320 ensures that the position of the first limiting component 310 and the second transmission component 300 remains relatively fixed. This allows the constraint effect of the first limiting groove on the second transmission component 300 to be stably transmitted, significantly improving the axial positioning accuracy and rotational stability of the second transmission component 300 during rotation. It also effectively suppresses eccentric rotation and angular wobble caused by backlash, thereby improving the transmission accuracy and operational reliability of the entire transmission mechanism.

[0039] An optional embodiment provided in this application, such as Figure 2 and Figure 6 As shown, the second transmission assembly 300 is provided with a second limiting groove 330, which extends along the circumferential direction of the second transmission assembly 300 and is located on the side of the first limiting step 320. The transmission mechanism also includes a first retaining ring structure 340, which is sleeved on the second transmission assembly 300. At least a portion of the first retaining ring structure 340 is embedded in the second limiting groove 330. The two sides of the first limiting component 310 are respectively attached to the sidewalls of the first retaining ring structure 340 and the first limiting step 320 to limit the first limiting component.

[0040] In this embodiment, the first limiting component 310 is restricted in the axial direction between the sidewalls of the first retaining ring structure 340 and the first limiting step 320. Its two sides are tightly fitted with the sidewalls of the first retaining ring structure 340 and the first limiting step 320, respectively, thereby forming a bidirectional clamping and limiting structure in the axial direction. This effectively prevents the first limiting component 310 from moving or coming out along the axial direction of the second transmission component 300, significantly improving the stability and reliability of the limiting, and ensuring that the first limiting component 310 is always accurately embedded in the first limiting groove 110, maintaining precise constraint on the second transmission component 300.

[0041] An optional embodiment provided in this application, such as Figure 2As shown, the second transmission assembly 300 includes: an output bevel gear 350 disposed inside the housing 100, the output bevel gear 350 meshing with the first transmission assembly 200; an output connecting component 360 connected to the output bevel gear 350; a first limiting component 310 sleeved on the output connecting component 360; and the output connecting component 360 used to connect with the target component.

[0042] In this embodiment, the output bevel gear 350 meshes with the first transmission assembly 200 to achieve vertical power transmission. The output connecting component 360 is directly connected to the output bevel gear 350 to form a rigid transmission chain. The first limiting component 310 is sleeved on the output connecting component 360, so that the constraint force from the first limiting groove on the first limiting component 310 can directly act on the output connecting component 360, thereby transmitting the geometric constraint to the output bevel gear 350. This effectively suppresses the radial eccentric displacement and axial overturning and swaying of the output bevel gear 350 caused by meshing backlash, ensuring that when the first transmission assembly 200 suddenly stops, the output connecting component 360 and its connected target component can still maintain a stable axial position and attitude.

[0043] An optional embodiment provided in this application, such as Figure 2 As shown, the first limiting component 310 includes a first bearing 311, which is sleeved on the second transmission component 300. At least a portion of the first bearing 311 is embedded in the first limiting groove 110 to limit the second transmission component 300.

[0044] In this embodiment, the first bearing 311 serves as a rigid rolling support structure, directly constraining the radial and axial displacements and overturning motions of the second transmission component 300 within the first limiting groove 110. When the first transmission component 200 suddenly stops, the first bearing 311 and the first limiting groove 110 form a stable rigid limit, effectively eliminating the slight eccentric rotation or angular wobble of the second transmission component 300 caused by backlash, ensuring that the second transmission component 300 can only rotate around its axis, thereby suppressing the unexpected wobble at the output end caused by inertia or external force, and significantly improving the positioning accuracy and operational stability of the transmission system.

[0045] An optional embodiment provided in this application, such as Figure 4 and Figure 5 As shown, the housing 100 includes: a first outer shell 130, on which a first limiting groove 131 is provided; and a second outer shell 140, which is detachably connected to the first outer shell 130, on which a second limiting groove 141 is provided, and the first limiting groove 131 and the second limiting groove 141 communicate to form a first limiting groove 110.

[0046] In this embodiment, when the first housing 130 and the second housing 140 are assembled in place, the first limiting groove segment 131 and the second limiting groove segment 141 are interconnected to form a complete first limiting groove body 110. This allows the first limiting component 310 sleeved on the second transmission assembly 300 to achieve embedded installation through the closing of the split groove segments. This ensures that the limiting effect of the first limiting component 310 on the second transmission assembly 300 can still be reliably maintained under manufacturing tolerance or thermal deformation conditions, effectively suppressing the eccentric rotation of the second transmission assembly 300 caused by back clearance, and improving transmission accuracy and operational stability.

[0047] An optional embodiment provided in this application, such as Figure 2 As shown, the second transmission assembly 300 includes an output bevel gear 350 disposed within the housing 100; there are two first transmission assemblies 200, each of which includes a drive bevel gear 210 disposed within the housing 100, with the axial direction of each drive bevel gear 210 perpendicular to the axial direction of the output bevel gear 350; the two drive bevel gears 210 are arranged opposite to each other and spaced apart, at least a portion of the output bevel gear 350 is disposed between the two drive bevel gears 210, and the two drive bevel gears 210 mesh with the output bevel gear 350 respectively to drive the output bevel gear 350 to rotate.

[0048] In this embodiment, when the external power source drives the two drive bevel gears 210 to rotate, the power is transmitted to the output bevel gear 350 through the tooth surface, thereby balancing the torque on the output bevel gear 350. When instantaneous braking occurs at the input end, the unilateral deflection torque generated by the backlash tendency of the output bevel gear 350 will be canceled by the reverse constraint force of the other drive bevel gear 210, thereby suppressing its eccentric rotation and angular wobble. At the same time, the axial direction of the output bevel gear 350 is constrained by the first limiting component and the first limiting groove, so that the entire transmission system can still maintain high-precision positioning stability under inertial impact or emergency stop conditions. The symmetrical meshing structure of the dual drive bevel gears 210 and the limiting mechanism work together to significantly improve the anti-disturbance capability and running stability of the transmission system.

[0049] Furthermore, such as Figure 2 As shown, the transmission mechanism also includes an auxiliary bevel gear 400, which is opposite to and spaced apart from the output bevel gear 350. The axial direction of the auxiliary bevel gear 400 is perpendicular to the axial direction of the drive bevel gear 210. At least a portion of the auxiliary bevel gear 400 is disposed between the two drive bevel gears 210, and the two drive bevel gears 210 mesh with the auxiliary bevel gear 400 respectively.

[0050] In an optional embodiment provided by this application, the first transmission assembly 200 further includes: a drive connecting component 220 connected to the drive bevel gear 210, the drive connecting component 220 having a second limiting step extending in the circumferential direction of the drive connecting component 220; the transmission mechanism further includes: a second limiting component 230 sleeved on the drive connecting component 220, the inner wall surface of the second limiting component 230 abutting against the step surface of the second limiting step.

[0051] In this embodiment, the step surface of the second limiting step abuts against the inner wall of the second limiting component 230 to position the drive connecting component 220, effectively suppressing the axial movement and circumferential micro-movement of the drive bevel gear 210 caused by assembly gaps or inertial forces during transmission. This ensures that the drive bevel gear 210 and the output bevel gear 350 always maintain a precise meshing position, avoiding output gear angle sway and increased vibration caused by input end offset.

[0052] An optional embodiment provided in this application, such as Figure 3 As shown, the drive connection component 220 is provided with a third limiting groove 221, which extends along the circumferential direction of the drive connection component 220; the transmission mechanism also includes a second retaining ring structure 240, which is sleeved on the drive connection component 220, at least a portion of the second retaining ring structure 240 is embedded in the third limiting groove 221, and the two sides of the second limiting component 230 are respectively attached to the side wall surfaces of the second retaining ring structure 240 and the second limiting step to limit the second limiting component 230.

[0053] In this embodiment, the two sides of the second limiting component 230 are tightly fitted with the sidewalls of the second retaining ring structure 240 and the second limiting step, respectively, thereby forming a bidirectional constraint structure in the axial direction of the drive connecting component 220. This effectively suppresses the axial slippage or displacement of the second limiting component 230 under impact or vibration conditions, ensuring that the axial positioning accuracy of the drive bevel gear 210 remains stable. It also avoids abnormal gear meshing clearance or axial movement of the transmission chain caused by the displacement of the second limiting component 230, thereby improving the reliability and smooth operation of the overall transmission system.

[0054] An optional embodiment provided in this application, such as Figure 2 As shown, a fourth limiting groove 120 is provided on the housing 100; the second limiting component 230 includes a second bearing 231, at least a portion of which is embedded in the fourth limiting groove 120, and the inner wall surface of the second bearing 231 abuts against the step surface of the second limiting step, so that the fourth limiting groove 120 limits the first transmission component 200 through the second bearing 231.

[0055] In this embodiment, the fourth limiting groove 120 applies rigid constraints to the first transmission component 200 through the second bearing 231. When the input gear brakes suddenly, even if there is backlash or inertia, the first transmission component 200's axial offset and overturning are suppressed by the fourth limiting groove 120 due to the cooperative limiting structure of the drive connecting component 220 and the second limiting step, thus ensuring the stability of the limiting and effectively maintaining its meshing geometric relationship with the second transmission component 300. This significantly reduces vibration and positioning errors during transmission, and improves the overall transmission accuracy and system rigidity.

[0056] An optional embodiment provided in this application, such as Figure 4 and Figure 5 As shown, the housing 100 includes: a first outer shell 130, on which a third limiting groove segment 132 is provided; and a second outer shell 140, which is detachably connected to the first outer shell 130, on which a fourth limiting groove segment 142 is provided, and the third limiting groove segment 132 and the fourth limiting groove segment 142 communicate to form a fourth limiting groove body 120.

[0057] In this embodiment, when the first housing 130 and the second housing 140 are detachably connected, the third limiting groove segment 132 and the fourth limiting groove segment 142 engage with each other to form a complete fourth limiting groove 120. This structure allows the second bearing 231 to be pre-placed in the third limiting groove segment 132 during assembly, and then the fourth limiting groove segment 142 is closed by the snap-fit ​​of the second housing 140, thereby stably limiting the second bearing 231 within the fourth limiting groove 120. This split assembly method not only significantly reduces the installation difficulty of the second bearing 231, but also eliminates the need to disassemble the transmission mechanism as a whole when maintaining or replacing the bearing. Only the first housing 130 and the second housing 140 need to be separated to complete the operation. At the same time, it is convenient to adjust the clamping force between the second bearing 231 and the housing 100 according to the actual working conditions, thereby improving the operating accuracy and life of the transmission system.

[0058] This application also provides a robot, including a robotic arm and a transmission mechanism, the transmission mechanism being mounted on the robotic arm.

[0059] The transmission mechanism of this application is described below with reference to a specific embodiment:

[0060] In existing technologies, a gear set consisting of four bevel gears can be used as a mechanism with two degrees of freedom. In robotic devices such as robotic arms or robotic dogs, it can be used as a parallel mechanism. As a core component, the meshing state of the bevel gears directly affects transmission performance and reliability. However, due to manufacturing and assembly tolerances, backlash (tooth clearance) always exists between meshing gears, which can lead to vibration and positioning errors in the transmission chain. Excessive tooth clearance can cause gear impact and noise, affecting transmission smoothness and even reducing gear life; simultaneously, tooth clearance can cause system vibration and loss of accuracy. To address the tooth clearance problem, existing technologies often use increased bearing preload to reduce clearance, or use backlash-eliminating structures such as double-plate staggered teeth, and select high-precision gears to improve transmission accuracy. On the one hand, these methods significantly increase equipment space and manufacturing costs; the increase in the number of teeth leads to a substantial increase in cost, and the decrease in tooth surface load can cause gear damage. On the other hand, in the field of robotics, sudden stops and starts are normal operating conditions, and the impact of backlash is difficult to solve by the gears themselves.

[0061] The existing technology suffers from the following main problems and defects: Eccentric motion of the output gear: Due to the meshing backlash, when the input gear is locked stationary by the brake while the output gear is subjected to inertia or external force, the output gear will undergo superimposed rotation and revolution around the meshing surface with the input gear, resulting in unwanted output motion. Vibration and jitter: During high-speed operation or sudden stops and starts, the aforementioned minute eccentricities are amplified, causing significant vibration and jitter in the transmission chain, affecting the smoothness of mechanical motion. Reduced transmission accuracy: The micro-motion errors caused by the aforementioned eccentric motion and vibration make it difficult to accurately position the output, leading to a decrease in system transmission accuracy. Simultaneously, frequent impacts accelerate tooth surface wear, affecting the reliability of the gear set. These problems stem from the lack of rigid geometric constraints on the output shaft in the existing structure; the input shaft brake cannot stop the micro-motion of the output shaft. The challenge lies in how to effectively limit the movement of the output gear while maintaining the normal rotation of the gear shaft.

[0062] This application belongs to the field of humanoid robotic arms. To solve the above problems, this application fixes four bevel gears (two driving bevel gears 210, an output bevel gear 350, and an auxiliary bevel gear 400) in the same horizontal plane, and achieves rigid orthogonal limiting through bearings and housing 100, thereby suppressing the output eccentric movement caused by backlash.

[0063] The rotary flange (drive connection component 220) connected to the drive bevel gear 210 is configured as a stepped structure, and the rotary flange (output connection component 360) connected to the output bevel gear 350 is also configured as a stepped structure. The stepped portion of each flange is machined into a cylindrical surface to accommodate rolling bearings (first bearing 311 or second bearing 231). The original auxiliary gear (auxiliary bevel gear 400) remains unchanged. A second limiting step is provided on the drive connection component 220, and the inner wall surface of the second bearing 231 abuts against the stepped surface of the second limiting step. A first limiting step 320 is provided on the output connection component 360, and the inner wall surface of the first bearing 311 abuts against the stepped surface of the first limiting step 320.

[0064] A high-precision crossed roller bearing (first bearing 311 or second bearing 231) is installed at the stepped flange (drive connection component 220 and output connection component 360) of each input gear (drive bevel gear 210) and output gear (output bevel gear 350). The inner ring of the bearing is interference-fitted to the stepped flange and then secured by a snap ring (first snap ring structure or second snap ring structure 240). The crossed roller bearing can simultaneously withstand axial force, radial force, and overturning moment, thereby physically eliminating radial runout and angular wobble of the output shaft. This design adds a rigid support surface to each gear shaft, providing stable constraint to the gear during rotation while ensuring that the bearing allows the gear to rotate freely.

[0065] The housing 100 includes a first outer shell 130 and a second outer shell 140 that are detachably connected. The housing 100 has mounting slots to facilitate the alignment of the upper and lower housings. The housing 100 is fastened with bolts to form a closed state. The housing 100 has clamping areas (first limiting groove 110 and fourth limiting groove 120) corresponding to each crossed roller bearing. When the upper and lower housings are closed, the outer rings of each bearing are pre-tightened. The preload of the bearings can be precisely adjusted by the fastening screws to achieve a strictly orthogonal geometric relationship in the gear set: the input shaft and output shaft remain perpendicular, and all gears are aligned with their common faces.

[0066] Four gears (two drive bevel gears 210, an output bevel gear 350, and an auxiliary bevel gear 400) and their stepped flanges are mounted in the same horizontal plane. After the upper and lower housings are tightened, the crossed roller bearings fix the gear shafts in their geometric positions. When the input shaft stops, the input gears are absolutely stationary due to the motor brake. If the output gears attempt to rotate eccentrically due to inertia, they will be constrained by the combined limiting torque of the crossed roller bearings and the housing geometry. The output shaft is rigidly supported in both the radial and overturning directions, preventing any additional swaying or revolution around the input shaft, thus suppressing deflection caused by backlash.

[0067] With the above structure, even when subjected to a large impact or external force, the output gear can only rotate around a fixed axis within a small range, eliminating free eccentric motion.

[0068] This application offers significant advantages: Improved transmission smoothness: The high rigidity of the crossed roller bearings prevents backlash-induced displacement in the output gear under load, significantly reducing system vibration during high-speed or impact conditions. Enhanced transmission accuracy: The orthogonal geometric constraints of the upper and lower housings ensure the output shaft is firmly positioned at rest, eliminating motion errors caused by backlash and improving system positioning accuracy. Increased reliability and lifespan: The output gear is free from impact oscillations, reducing tooth surface wear and extending its lifespan. Stable geometric constraints also reduce maintenance requirements and improve system reliability. Compact structure and low cost: This application only requires modification of the existing gear flange and the addition of crossed roller bearings and two housings, without the need for complex new mechanisms, facilitating manufacturing and assembly. The overall structure is simple, easy to implement and maintain, and requires no additional energy consumption. A stepped structure is designed at the flange end of the gear shaft and a crossed roller bearing is installed to give the gear shaft a high-rigidity support surface, which meets the positioning requirements under rotation conditions. The upper and lower split housings are used to apply preload to the outer ring of the bearing by bolt clamping, so as to achieve a strict orthogonal geometric relationship between the input shaft and the output shaft of the gear set. Through the above-mentioned rigid limiting structure, radial and overturning direction constraints are provided for the eccentric rotation of the output gear when the input shaft is stationary, and the output shaft offset caused by tooth backlash is suppressed.

[0069] This application prevents the output bevel gear from wobbling due to inertia or external force when rotating by adding four orthogonal limiters. Specifically, bearings fixed to the stepped flange are used to withstand the fixed clamping force without affecting the rotation of the flange driven by the gears. Clamping and fixing are achieved by threads through the clamping grooves of the bearings on the upper and lower housings.

[0070] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0071] A first limiting groove 110 is provided on the housing 100. The first transmission component 200 and the second transmission component 300 are perpendicularly meshed with each other. The rotation of the first transmission component 200 drives the second transmission component 300 to rotate the target component. To suppress the eccentric rotation of the second transmission component 300 due to backlash when the first transmission component 200 suddenly stops, the first limiting component 310 is sleeved on the second transmission component 300, and at least partially embedded in the first limiting groove 110. The first limiting groove 110 extends in a first curved trajectory, which can geometrically control the axial direction of the second transmission component 300. Constraints: When the first transmission component 200 stops rotating, the first limiting groove 110 restricts the axial displacement of the second transmission component 300 through the first limiting component 310, preventing eccentric oscillation caused by meshing clearance, thereby ensuring that the movement trajectory of the second transmission component 300 is stable and without deviation. With this setting, no additional braking or damping device is needed. The active suppression of output shaft eccentric rotation caused by backlash in the transmission system is achieved solely through the cooperation of the first limiting groove 110 and the first limiting component 310. This solves the problem of output gear shaft wobbling in the prior art and improves transmission accuracy and system reliability.

[0072] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0073] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0074] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0075] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0076] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A transmission mechanism, characterized in that, include: The housing (100) is provided with a first limiting groove (110). A first transmission assembly (200) is rotatably disposed relative to the housing (100); The second transmission assembly (300) is rotatably disposed relative to the housing (100). The axial direction of the first transmission assembly (200) is perpendicular to the axial direction of the second transmission assembly (300). The second transmission assembly (300) meshes with the first transmission assembly (200). The first transmission assembly (200) drives the target component to rotate through the second transmission assembly (300). A first limiting component (310) is sleeved on the second transmission assembly (300). At least a portion of the first limiting component (310) is embedded in the first limiting groove (110) so that the first limiting groove (110) limits the second transmission assembly (300) through the first limiting component (310).

2. The transmission mechanism according to claim 1, characterized in that, The second transmission component (300) is provided with a first limiting step (320), which extends in the circumferential direction of the second transmission component (300), and the inner wall surface of the first limiting component (310) abuts against the step surface of the first limiting step (320).

3. The transmission mechanism according to claim 2, characterized in that, The second transmission assembly (300) is provided with a second limiting groove (330), which extends along the circumferential direction of the second transmission assembly (300) and is located on the side of the first limiting step (320). The transmission mechanism also includes: The first retaining ring structure (340) is sleeved on the second transmission assembly (300). At least a portion of the first retaining ring structure (340) is embedded in the second limiting groove (330). The two sides of the first limiting component (310) are respectively attached to the side walls of the first retaining ring structure (340) and the first limiting step (320) to limit the first limiting component.

4. The transmission mechanism according to claim 1, characterized in that, The second transmission assembly (300) includes: An output bevel gear (350) is disposed within the housing (100), and the output bevel gear (350) meshes with the first transmission assembly (200); An output connection component (360) is connected to the output bevel gear (350), and a first limiting component (310) is sleeved on the output connection component (360). The output connection component (360) is used to connect to the target component.

5. The transmission mechanism according to claim 1, characterized in that, The first limiting component (310) includes a first bearing (311), which is sleeved on the second transmission assembly (300). At least a portion of the first bearing (311) is embedded in the first limiting groove (110) to limit the second transmission assembly (300).

6. The transmission mechanism according to claim 1, characterized in that, The housing (100) includes: The first outer shell (130) is provided with a first limiting groove (131). The second outer shell (140) is detachably connected to the first outer shell (130). The second outer shell (140) is provided with a second limiting groove (141). The first limiting groove (131) communicates with the second limiting groove (141) to form the first limiting groove body (110).

7. The transmission mechanism according to claim 1, characterized in that, The second transmission assembly (300) includes: An output bevel gear (350) is disposed within the housing (100); There are two first transmission components (200), and each first transmission component (200) includes: A drive bevel gear (210) is disposed inside the housing (100), and the axial direction of each drive bevel gear (210) is perpendicular to the axial direction of the output bevel gear (350); The two drive bevel gears (210) are arranged opposite to each other and spaced apart. At least a portion of the output bevel gear (350) is arranged between the two drive bevel gears (210). The two drive bevel gears (210) mesh with the output bevel gear (350) respectively to drive the output bevel gear (350) to rotate.

8. The transmission mechanism according to claim 7, characterized in that, The first transmission assembly (200) further includes: A drive connection component (220) is connected to the drive bevel gear (210). A second limiting step is provided on the drive connection component (220), and the second limiting step extends in the circumferential direction of the drive connection component (220). The transmission mechanism also includes: The second limiting component (230) is sleeved on the drive connection component (220), and the inner wall surface of the second limiting component (230) abuts against the step surface of the second limiting step.

9. The transmission mechanism according to claim 8, characterized in that, The drive connection component (220) is provided with a third limiting groove (221), which extends along the circumferential direction of the drive connection component (220). The transmission mechanism also includes: The second retaining ring structure (240) is sleeved on the drive connection component (220). At least a portion of the second retaining ring structure (240) is embedded in the third limiting groove (221). The two sides of the second limiting component (230) are respectively attached to the side wall surfaces of the second retaining ring structure (240) and the second limiting step to limit the second limiting component (230).

10. The transmission mechanism according to claim 8, characterized in that, The housing (100) is provided with a fourth limiting groove (120); The second limiting component (230) includes: The second bearing (231) is at least partially embedded in the fourth limiting groove (120), and the inner wall surface of the second bearing (231) abuts against the step surface of the second limiting step so that the fourth limiting groove (120) limits the first transmission assembly (200) through the second bearing (231).

11. The transmission mechanism according to claim 10, characterized in that, The housing (100) includes: The first outer shell (130) is provided with a third limiting groove (132); The second outer shell (140) is detachably connected to the first outer shell (130). The second outer shell (140) is provided with a fourth limiting groove segment (142). The third limiting groove segment (132) communicates with the fourth limiting groove segment (142) to form the fourth limiting groove body (120).

12. A robot comprising a robotic arm and a transmission mechanism, wherein the transmission mechanism is disposed on the robotic arm, characterized in that, The transmission mechanism is the transmission mechanism according to any one of claims 1 to 11.

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