Transmission system, end effector and robot

Abstract

This utility model provides a transmission system, an end effector, and a robot. The transmission system includes a motor, a reduction gear assembly, and a reversing transmission assembly. The reversing transmission assembly includes a main transmission component and a driven transmission component that engage in meshing transmission. The rotation axes of the main transmission component and the driven transmission component have a non-zero angle to achieve a change in transmission direction. The main transmission component is connected to the output end of the reduction gear assembly, and the driven transmission component can be used to drive the load motion. The projection of the driven transmission component onto the plane of the end cover is located within the range of the end cover, or the first part of the projection of the driven transmission component onto the plane of the end cover is located within the range of the end cover, and the second part of the projection of the driven transmission component onto the plane of the end cover is located outside the range of the end cover. The area of ​​the first part is larger than the area of ​​the second part, which effectively reduces the overall size of the transmission system in the radial direction of the motor, which is beneficial to achieving miniaturization and compact design of the transmission system.

Description

Technical Field

[0001] This utility model relates to the field of transmission system technology, and in particular to a transmission system, an end effector, and a robot. Background Technology

[0002] In the field of robotics, the weight and size of the end effector directly determine the overall endurance, dynamic response capability, and load-to-weight ratio of a robot's dexterous hand. An end effector typically consists of a motor, transmission system, drive plate, and housing, among which the design and arrangement of the transmission system have a crucial impact on the overall weight and size of the end effector. Especially in humanoid robot joints with stringent requirements for "extreme lightweighting" and "high compactness," the radial footprint of the transmission system becomes a key bottleneck restricting joint performance.

[0003] In related technologies, the transmission system occupies a large radial dimension, which not only increases the overall weight of the end effector and reduces the load-to-weight ratio, but also limits the flexibility of the end effector in placement in a confined space, thus restricting the application of end effectors in high-performance humanoid robot joints. Utility Model Content

[0004] This invention provides a transmission system, an end effector, and a robot to solve the problem of the transmission system occupying a large radial dimension.

[0005] A transmission system, comprising:

[0006] An electric motor for providing power, the electric motor including an output shaft and an end cover;

[0007] A speed reduction assembly includes an input end and an output end. The input end of the speed reduction assembly is connected to the output shaft of the motor, and the rotation axis of the input end of the speed reduction assembly is parallel to the rotation axis of the output end of the speed reduction assembly.

[0008] The reversing transmission assembly includes a main transmission component and a driven transmission component that engage in meshing transmission. The rotation axis of the main transmission component and the rotation axis of the driven transmission component have a non-zero included angle to achieve a change in transmission direction. The main transmission component is connected to the output end of the reduction assembly, and the driven transmission component can be used to drive the load movement.

[0009] Wherein, the projection from the transmission member to the plane where the end cap is located is within the range of the end cap, or the first part of the projection from the transmission member to the plane where the end cap is located is within the range of the end cap, and the second part of the projection from the transmission member to the plane where the end cap is located is outside the range of the end cap, and the area of ​​the first part is greater than the area of ​​the second part.

[0010] Preferably, the main transmission component includes a worm gear, and the driven transmission component includes a worm wheel;

[0011] Alternatively, the main transmission component may include a driving bevel gear, and the driven transmission component may include a driven bevel gear.

[0012] Preferably, the reduction assembly includes at least one set of parallel shaft gear assemblies, each set of parallel shaft gear assemblies including a driving gear and a driven gear meshing with each other, the rotation axis of the driving gear and the rotation axis of the driven gear being parallel, and the number of teeth of the driving gear in each set of parallel shaft gear assemblies being less than the number of teeth of the driven gear.

[0013] Preferably, the at least one set of parallel shaft gear assemblies includes a first parallel shaft gear assembly, a second parallel shaft gear assembly, and a third parallel shaft gear assembly. The first parallel shaft gear assembly includes a first driving gear and a first driven gear. The second parallel shaft gear assembly includes a second driving gear and a second driven gear. The third parallel shaft gear assembly includes a third driving gear and a third driven gear. The first driving gear is driven and connected to the output shaft of the motor. The first driven gear can be driven to rotate by the first driving gear. The second driving gear can be driven to rotate by the first driven gear. The second driven gear can be driven to rotate by the second driving gear. The third driving gear can be driven to rotate by the third driving gear. The third driven gear can drive the main transmission component to rotate.

[0014] Preferably, the first driving gear meshes with the first driven gear, the first driven gear and the second driving gear are coaxially fixedly connected, the second driving gear meshes with the second driven gear, the second driven gear and the third driving gear are coaxially fixedly connected, the third driving gear meshes with the third driven gear, and the third driven gear and the main transmission component are coaxially fixedly connected.

[0015] Preferably, the center distance of the second parallel shaft gear assembly is 1.5 times the center distance of the first parallel shaft gear assembly, and the center distance of the third parallel shaft gear assembly is 0.7 times the center distance of the second parallel shaft gear assembly.

[0016] Preferably, the center distance line of the second parallel shaft gear assembly is parallel to the center distance line of the first parallel shaft gear assembly, and the angle between the center distance line of the third parallel shaft gear assembly and the center distance line of the first parallel shaft gear assembly is 44°-46°.

[0017] Preferably, the center distance line of the reversing transmission assembly is parallel to the center distance line of the third parallel shaft gear assembly.

[0018] An end effector includes the aforementioned drive system, the drive system being configured to be positioned at a joint of the end effector.

[0019] A robot including the aforementioned end effector.

[0020] The transmission system provided in this embodiment of the invention places the projection of the driven component onto the plane of the end cover entirely or mostly within the range of the end cover. This allows the driven component to fully utilize the radial space occupied by the end cover, avoiding any additional protrusion of the driven component in the radial direction. This effectively reduces the overall size of the transmission system in the radial direction of the motor, significantly reducing the risk of spatial interference with surrounding accessories, and facilitating the miniaturization and compact design of the transmission system. Compared with related technologies where the driven component is placed on the radial edge of the motor's end cover, resulting in an increased radial dimension, this solution reduces the maximum outer diameter of the transmission system in the radial direction, achieving better spatial interference avoidance. It solves the problem of large size in related transmission systems, which helps reduce the weight and volume of the end effector in the robot and significantly compresses the radial envelope size of the end effector. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a first axonometric view of the transmission system in one embodiment of the present invention;

[0023] Figure 2 This is a second axonometric view of the transmission system in one embodiment of the present invention.

[0024] The components include: 1. Motor; 101. End cover; 2. Reversing transmission assembly; 21. Main transmission component; 22. Driven transmission component; 3. First parallel shaft gear assembly; 31. First driving gear; 32. First driven gear; 4. Second parallel shaft gear assembly; 41. Second driving gear; 42. Second driven gear; 5. Third parallel shaft gear assembly; 51. Third driving gear; 52. Third driven gear; 6. Bracket; 7. First pin; 8. First bushing; 9. Second pin; 10. Second bushing; 11. Third pin; 12. Third bushing; 13. First positioning sleeve; 14. Second positioning sleeve; 15. First bearing; 16. Second bearing. Detailed Implementation

[0025] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] In the description of this application, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] This utility model provides a transmission system, referring to... Figure 1 and Figure 2 The transmission system includes:

[0029] Motor 1, used to provide power, includes an output shaft and an end cover 101;

[0030] The speed reduction assembly includes an input end and an output end. The input end of the speed reduction assembly is connected to the output shaft of the motor 1, and the rotation axis of the input end of the speed reduction assembly is parallel to the rotation axis of the output end of the speed reduction assembly.

[0031] The reversing transmission assembly 2 includes a main transmission component 21 and a driven transmission component 22 engaged in a meshing transmission. The rotation axis of the main transmission component 21 and the rotation axis of the driven transmission component 22 have a non-zero included angle to achieve a change in the transmission direction. The main transmission component 21 is connected to the output end of the reduction assembly, and the driven transmission component 22 can be used to drive the load movement.

[0032] Wherein, the projection of the transmission member 22 onto the plane where the end cover 101 is located is within the range of the end cover 101, or the first part of the projection of the transmission member 22 onto the plane where the end cover 101 is located is within the range of the end cover 101, and the second part of the projection of the transmission member 22 onto the plane where the end cover 101 is located is outside the range of the end cover 101, and the area of ​​the first part is greater than the area of ​​the second part.

[0033] As an example, this transmission system can be applied to, but is not limited to, the end effector of a robot, including a motor 1, a reduction gear assembly, and a reversing transmission assembly 2. The motor 1 is the power source, providing power, and includes an output shaft and an end cap 101. The output shaft is connected to the input end of the reduction gear assembly to transmit power to it. The end cap 101 is located on the axial outer side of the motor 1, and its plane is perpendicular to the axis of the output shaft, used to mount the reduction gear assembly. The reduction gear assembly includes an input end and an output end, used to reduce the high speed of the motor 1's output shaft and increase the torque output by the transmission system. The input end of the reduction gear assembly is connected to the output shaft of the motor 1, and the rotation axis of the input end of the reduction gear assembly is parallel to the rotation axis of the output end of the reduction gear assembly. The reduction gear assembly can be arranged radially along the motor without additional axial expansion, effectively controlling the axial dimensions of the transmission system and making the overall structure more compact, particularly suitable for applications with limited axial space. The reversing transmission assembly 2 includes a main transmission member 21 and a driven transmission member 22 engaged in a meshing transmission. The rotation axis of the main transmission member 21 and the rotation axis of the driven transmission member 22 have a non-zero included angle, thereby realizing the reversal of the transmission direction from axial to radial. The main transmission member 21 is connected to the output end of the reduction assembly, and the driven transmission member 22 can be used to drive the movement of a load (such as the load end at the joint of the end effector in a robot). In this configuration, the projection plane of the end cover 101 is used as the projection surface. When the transmission component 22 is projected onto this plane, its projection falls within the area of ​​the end cover 101. This means the projection area of ​​the transmission component 22 is completely covered by the end cover 101 of the motor 1. The transmission component 22 is located in the radial center region of the motor 1, and it does not increase the overall outer diameter of the transmission system radially. Alternatively, a first portion of its projection may be within the area of ​​the end cover 101, while a second portion may be outside the area of ​​the end cover 101. The area of ​​the first portion is larger than the area of ​​the second portion. This means most of the projection area of ​​the transmission component 22 is covered by the end cover 101 of the motor 1, and most of the transmission component 22 is located in the radial center region of the motor 1. The transmission component 22 does not significantly increase the overall outer diameter of the transmission system radially. Since the main transmission component 21 is connected to the output end of the reduction assembly, and the output end of the reduction assembly is eccentrically positioned near the radial edge of the motor 1, the projection of the main transmission component 21 naturally falls within the radial edge region of the motor 1.

[0034] In one embodiment, by placing the main drive member 21 of the commutation drive assembly 2 in the radial edge region of the end cover 101, and placing the driven member 22 entirely or mostly in the radial center region of the end cover 101, the projection of the driven member 22 onto the plane of the end cover 101 is entirely or mostly within the range of the end cover 101. This allows the driven member 22 to fully utilize the radial space occupied by the end cover 101, avoiding any additional protrusion of the driven member 22 in the radial direction. This effectively reduces the overall size of the drive system in the radial direction of the motor, significantly reduces the risk of spatial interference with surrounding accessories, and facilitates the miniaturization and compact design of the drive system. It is understood that in another embodiment, the main drive member 21 of the commutation drive assembly 2 can be placed in the radial center region of the end cover 101, with the driven member 22 connected to the main drive member 21 and extending towards the radial edge region of the end cover 101. However, the projection of the driven member 22 onto the plane of the end cover 101 is entirely or mostly within the range of the end cover 101. Compared with the related technologies where the radial dimension increases due to the arrangement of the transmission component 22 on the radial edge of the end cap 101, the maximum radial outer diameter of the transmission system in this solution can be reduced, achieving better spatial interference avoidance. This solves the problem of large transmission system size, which is beneficial to reducing the weight and volume of the end effector in the robot and significantly compressing the radial envelope dimension of the end effector.

[0035] In one embodiment, reference is made to Figure 1 and Figure 2 The main transmission component 21 includes a worm gear, and the driven transmission component 22 includes a worm wheel; or, the main transmission component 21 includes a driving bevel gear, and the driven transmission component 22 includes a driven bevel gear.

[0036] As an example, the reversing transmission assembly 2 uses a worm gear pair to achieve reversing. The main transmission component 21 is a worm, which is connected to the output end of the reduction assembly via a spline. The driven component 22 is a worm wheel, whose rotation axis has a non-zero angle with the rotation axis of the worm to change the transmission direction. For example, the angle is 90° to change the transmission direction from axial to radial. The worm gear pair has the advantage of a large single-stage transmission ratio. While achieving reversing, it eliminates the need for multi-stage gears in series, reducing the axial length. The rotation axis of the worm gear coincides with the rotation axis of the output end of the reduction assembly. Taking the plane where the end cover 101 is located as the projection plane, the projection of the worm gear is located in the radial edge region of the motor 1. The area of ​​the worm wheel's projection within the range of the end cover 101 is larger than the area outside the range of the end cover 101. The projection of the worm wheel falls completely or mostly in the radial center region of the motor 1, allowing the worm wheel to make full use of the radial space occupied by the end cover 101, avoiding extra protrusion of the worm wheel in the radial direction, effectively reducing the overall size of the transmission system in the radial direction of the motor, significantly reducing the risk of spatial interference with surrounding accessories, and facilitating the miniaturization and compact design of the transmission system. It can significantly increase the overall transmission ratio of the transmission system, which is very practical for applications with a large transmission ratio and compact size. The worm gear is designed as a single-start worm wheel, which enables a self-locking function.

[0037] In one example, 40Cr or 45 steel is used as the worm material, and PEEK (polyetheretherketone) is used as the worm wheel material, forming a worm-wheel pairing scheme with a hard metal tooth surface and a soft polymer tooth surface. 40Cr, after tempering, can achieve a hardness of 240-280 HBW, while 45 steel, after high-frequency quenching, can achieve a hardness of 410-460 HBW, ensuring the worm has extremely high surface hardness and wear resistance, capable of withstanding contact stress under high-power transmission. PEEK, as the worm wheel material, is beneficial for lightweight design while simultaneously meeting hardness and wear resistance requirements. During meshing, it automatically adapts to minor form and position errors of the worm, compensating for center distance deviations and axis misalignment, resulting in a more uniform distribution of contact stress in the meshing area and avoiding pitting and galling failures common in metal-to-metal pairings. This solution combines a 40Cr or 45 steel worm with a PEEK worm wheel, resulting in higher transmission efficiency, better wear resistance and reliability, and extended service life compared to metal-to-metal pairings. It achieves comprehensive optimization of the worm wheel pair in terms of transmission efficiency, service life, lightweight design, self-lubrication, assembly tolerance, corrosion resistance, and low noise. The high hardness of the worm ensures wear resistance and load-bearing capacity, while the self-lubricating properties of the PEEK worm wheel eliminate the need for lubrication. Lightweight design reduces rotational inertia, elastic deformation compensates for assembly errors, corrosion resistance adapts to harsh environments, and low noise enhances the user experience.

[0038] As an example, the reversing transmission assembly 2 uses a bevel gear pair to achieve reversing. The main transmission component 21 is the driving bevel gear, which is connected to the output end of the reduction assembly via a spline. The driven transmission component 22 is the driven bevel gear, whose rotation axis has a non-zero angle with the rotation axis of the driving bevel gear to change the transmission direction. For example, the angle is 90° to change the transmission direction from axial to radial. The meshing efficiency of bevel gear pairs is much higher than that of worm gear pairs, and they have a significant advantage in robot joints that require high-efficiency transmission. The rotation axis of the driving bevel gear coincides with the rotation axis of the output end of the reduction assembly. Taking the plane where the end cover 101 is located as the projection plane, the projection of the driving bevel gear is located in the radial edge region of the motor 1. The area of ​​the projection of the driven bevel gear within the range of the end cover 101 is greater than the area outside the range of the end cover 101. The projection of the driven bevel gear is completely or mostly located in the radial center region of the motor 1. This allows the driven bevel gear to make full use of the radial space occupied by the end cover 101, avoids the additional protrusion of the driven bevel gear in the radial direction, effectively reduces the overall size of the transmission system in the radial direction of the motor, greatly reduces the risk of spatial interference with surrounding accessories, and is conducive to the miniaturization and compact design of the transmission system.

[0039] In one embodiment, reference is made to Figure 1 and Figure 2 The reduction gear assembly includes at least one set of parallel shaft gear assemblies. Each set of parallel shaft gear assemblies includes a driving gear and a driven gear that mesh with each other. The rotation axis of the driving gear and the rotation axis of the driven gear are parallel. The number of teeth of the driving gear in each set of parallel shaft gear assemblies is less than the number of teeth of the driven gear.

[0040] As an example, the reduction assembly does not limit the number of parallel shaft gear assemblies and can be flexibly configured according to the actual required transmission ratio. When a medium transmission ratio is required, a single or two-stage process is used; when a large transmission ratio is required, three or more stages are used. Each additional stage increases the transmission ratio, but the increase in center distance and gear diameter per stage is very small, and the radial dimension increases slowly. By exchanging the number of stages for a higher transmission ratio and a small increase for a large benefit, the transmission system can cover a wide range of transmission ratio requirements from low to high with a minimal increase in radial space, greatly improving the versatility and adaptability of the joint drive module. Each parallel shaft gear assembly includes a driving gear and a driven gear. The driving gear is connected to the output shaft of motor 1 via a spline, and the driven gear is mounted on the end cover 101 of motor 1 via brackets, bushings, and pins, and meshes with the corresponding driving gear to achieve single-stage reduction transmission.

[0041] In one embodiment, by setting at least one set of parallel shaft gear assemblies, and in each set the number of teeth of the driving gear is less than the number of teeth of the driven gear (i.e., each stage achieves speed reduction), a large total transmission ratio can be obtained after multiple sets are connected in series (i.e., the center distance of each stage of the parallel shaft gear assembly can be designed to be small, and multiple stages of small eccentricity are connected in series to achieve a large transmission ratio). At the same time, the axis of the driving gear and the axis of the driven gear of the parallel shaft gear assembly are both straight lines and are parallel or approximately parallel to each other. In this way, the output end of the speed reduction assembly (the axis of the driven gear) can be conveniently and precisely controlled from the motor axis by adjusting the center distance. This creates conditions for the subsequent layout of the reversing transmission assembly 2, in which "the main transmission component 21 is in the radial edge region of the motor and the driven transmission component 22 is in the radial center region of the motor", fundamentally ensuring the radial compactness of the transmission system.

[0042] In one embodiment, reference is made to Figure 1 and Figure 2 At least one set of parallel shaft gear assemblies includes a first parallel shaft gear assembly 3, a second parallel shaft gear assembly 4, and a third parallel shaft gear assembly 5. The first parallel shaft gear assembly 3 includes a first driving gear 31 and a first driven gear 32. The second parallel shaft gear assembly 4 includes a second driving gear 41 and a second driven gear 42. The third parallel shaft gear assembly 5 includes a third driving gear 51 and a third driven gear 52. The first driving gear 31 is driven and connected to the output shaft of the motor 1. The first driven gear 32 can be driven to rotate by the first driving gear 31. The second driving gear 41 can be driven to rotate by the first driven gear 32. The second driven gear 42 can be driven to rotate by the second driving gear 41. The third driving gear 51 can be driven to rotate by the second driven gear 42. The third driven gear 52 can be driven to rotate by the third driving gear 51. The third driven gear 52 can drive the main transmission component 21 to rotate.

[0043] As an example, the reduction gear assembly adopts a three-stage parallel shaft gear assembly series structure, that is, at least one set of parallel shaft gear assemblies includes a first parallel shaft gear assembly 3, a second parallel shaft gear assembly 4, and a third parallel shaft gear assembly 5. The three sets of parallel shaft gear assemblies are sequentially driven and connected to form a three-stage reduction transmission chain. In each set, the number of teeth of the driving gear is less than the number of teeth of the driven gear, realizing a compact design of progressive reduction and progressive reduction of module. The transmission ratios of each gear pair are multiplied to obtain a large total transmission ratio, thereby effectively converting the high speed and low torque output of the motor 1 into the low speed and high torque output required by the main transmission component 21, meeting the working conditions of the main transmission component 21. During assembly, the first driving gear 31 and the output shaft of the motor 1 can be press-fitted together by interference fit or laser welding. The first driven gear 32 and the second driving gear 41 can be connected together by laser welding or interference fit. The second driven gear 42 and the third driving gear 51 can be connected together by laser welding or interference fit. The third driven gear 52 and the main transmission component 21 can be connected together by laser welding or interference fit. Moreover, the driving gears and driven gears in each parallel shaft gear assembly are respectively set on shafts that are parallel or approximately parallel to each other. Compared with structures such as planetary gears, the axial dimension of the parallel shaft gear assembly is shorter and the overall arrangement is more compact. This helps to reduce the radial and axial space of the entire transmission mechanism and facilitates multi-stage transmission within a limited installation space. The first driving gear 31 is driven and connected to the output shaft of the motor 1. The first driven gear 32 can be driven to rotate by the first driving gear 31. The second driving gear 41 can be driven to rotate by the first driven gear 32. The second driven gear 42 can be driven to rotate by the second driving gear 41. The third driving gear 51 can be driven to rotate by the second driven gear 42. The third driven gear 52 can be driven to rotate by the third driving gear 51. The third driven gear 52 can drive the main transmission component 21 to rotate. The power transmission path is clear step by step, which is convenient for design calculation, assembly and debugging and later maintenance and repair.

[0044] In one example, the transmission system also includes a bracket 6; the bracket 6 and the end cover 101 are connected by a first pin 7 and a first bushing 8, the bracket 6 and the second driving gear 41 are connected by a second pin 9 and a second bushing 10, and the bracket 6 and the third driving gear 51 are connected by a third pin 11 and a third bushing 12. This configuration allows the bracket 6 to connect to the end cover 101, the second driving gear 41, and the third driving gear 51 at three points, forming a three-point positioning support. This stabilizes the relative positional relationship of the parallel shaft gear assemblies at each stage, ensuring the parallelism and center distance accuracy between the gear shafts, thereby ensuring gear meshing quality, reducing noise, and improving transmission reliability. The detachable connection method using pins and bushings makes the assembly relationship between each gear assembly and the bracket 6 clear and easy to disassemble and assemble. When replacing gears or performing maintenance, it is not necessary to disassemble the entire transmission system; simply pulling out the corresponding pin allows for quick separation, significantly improving maintenance efficiency and reducing maintenance costs. Each pin and bushing forms a sliding fit. The bushing material is usually copper alloy or oil-impregnated bearing material. Compared with the pin directly contacting the metal hole wall, the friction coefficient is lower, which effectively reduces the wear between the pin and the bracket 6 and extends the service life. The bushing has a certain elastic deformation capacity, which can absorb the vibration and impact load generated during the transmission process, reduce the damage of rigid impact to the bracket 6 and the end cover 101, and improve the transmission smoothness. The presence of the bushing can compensate for the machining and assembly errors between the parts to a certain extent, making it easier to ensure the parallelism and coaxiality of each gear shaft.

[0045] The first end of the main drive component 21 is coaxially connected to the third driven gear 52. A first positioning sleeve 13 is installed between the first end of the main drive component 21 and the third driven gear 52. The first positioning sleeve 13 can be used as an assembly reference component. It is first put into the shaft end of the third driven gear 52, and then the main drive component 21 is put into it to achieve quick centering assembly. The first positioning sleeve 13 serves as an axial limiting element between the main drive component 21 and the third driven gear 52, which precisely controls the axial relative position between the two, prevents the main drive component 21 from moving axially, and ensures the fitting accuracy between the main drive component 21 and the third driven gear 52. A second positioning sleeve 14 is installed at both the first and second ends of the main transmission component 21, and a first bearing 15 is installed on each second positioning sleeve 14. With this configuration, the main transmission component 21 is provided with a second positioning sleeve 14 and a first bearing 15 at both ends, forming a double positioning support structure. This structure can provide positioning support for the installation of the main transmission component 21. Compared with a single-end cantilever support, it can effectively disperse the radial load and bending moment on the main transmission component 21, and significantly improve the radial bearing capacity and bending stiffness of the main transmission component 21. It is especially suitable for heavy-load conditions in which the main transmission component 21 is subjected to large torque and radial force. A second bearing 16 is provided on the central shaft of the driven component 22. The second bearing 16 is located on the central shaft of the driven component 22 and serves as an intermediate auxiliary support point for the rotation of the main drive component 21. Together with the first bearings 15 at both ends, it forms a three-point support structure, which makes the rotation center of the main drive component 21 more stable, reduces radial runout, and helps to improve the output accuracy of the entire transmission system. At the same time, it also further improves the radial stiffness of the main drive component 21 (and the driven component 22), effectively suppressing shaft vibration and flexural deformation during high-speed rotation.

[0046] In one embodiment, reference is made to Figure 1 and Figure 2 The first driving gear 31 and the first driven gear 32 mesh, the first driven gear 32 and the second driving gear 41 are coaxially fixedly connected, the second driving gear 41 and the second driven gear 42 mesh, the second driven gear 42 and the third driving gear 51 are coaxially fixedly connected, the third driving gear 51 and the third driven gear 52 mesh, and the third driven gear 52 and the main transmission component 21 are coaxially fixedly connected.

[0047] As an example, the first driven gear 32 is coaxially fixed with the second driving gear 41, the second driven gear 42 is coaxially fixed with the third driving gear 51, and the third driven gear 52 is coaxially fixed with the main transmission component 21. With this configuration, the output gear of each stage of transmission directly serves as the mounting base for the input gear of the next stage, eliminating the need for additional structures such as intermediate shafts, bearing seats, and couplings. The driving and driven gears of adjacent gear sets share the same axis of rotation, achieving an extremely compact design for the three-stage parallel shaft gear reduction assembly. This design does not increase the additional radial dimension, reduces the number of parts, lowers manufacturing costs and assembly complexity, and significantly reduces weight. Each stage of coaxial connection is a "large gear (front stage driven) leading a small gear (rear stage driving)". The diameter of the small gear is smaller than that of the large gear. Therefore, the radial envelope at the coaxial connection is determined by the large gear, and the small gear adds almost no additional radial dimension. This design achieves the maximum radial outer diameter without increasing the radial space occupied. Furthermore, in some embodiments, the three-stage parallel shaft gear reduction assembly has four rotation axes, which are parallel or approximately parallel to each other, and their positions can be designed according to actual needs, so that the output end of the reduction assembly is precisely located in the radial edge region of the motor, laying the structural foundation for the "main transmission component 21 at the edge and the driven transmission component 22 at the center" layout of the reversing transmission assembly 2.

[0048] In one embodiment, reference is made to Figure 1 and Figure 2 The center distance of the second parallel shaft gear assembly 4 is 1.5 times the center distance of the first parallel shaft gear assembly 3, and the center distance of the third parallel shaft gear assembly 5 is 0.7 times the center distance of the second parallel shaft gear assembly 4.

[0049] As an example, during the design, the center distance of the second parallel shaft gear assembly 4 is set to 1.5 times the center distance of the first parallel shaft gear assembly 3 (specifically, it can be controlled between 1.4 and 1.6 times). This allows the second stage transmission to withstand greater torque and provide a larger transmission ratio, while avoiding excessive axial length of the entire machine due to an excessively large center distance in the first stage. The center distance of the third parallel shaft gear assembly 5 is set to 0.7 times the center distance of the second parallel shaft gear assembly 4 (specifically, it can be controlled between 0.6 and 0.8 times). This effectively reduces the space occupied by the final stage gear, thereby making the overall arrangement of the three-stage parallel shaft gear assembly along the radial direction of the motor more compact while ensuring the overall transmission ratio, and reducing the radial length and overall volume of the reduction assembly.

[0050] In this example, the first parallel shaft gear assembly 3 uses a smaller center distance to reduce the circumferential speed of the gears and decrease meshing impact noise; the second parallel shaft gear assembly 4 appropriately increases the center distance to make meshing smoother; the third parallel shaft gear assembly 5 has a smaller center distance, and because the rotational speed has been greatly reduced, the meshing frequency is in a range that is less sensitive to the human ear, thus enabling the entire reducer to have a low noise level under all operating conditions; by reasonably distributing the center distances of each stage, the transmission ratio of each stage is kept in an optimal range, avoiding the increase in slip rate and decrease in efficiency caused by an excessively large single-stage transmission ratio, thereby maximizing the overall transmission efficiency of the three-stage transmission.

[0051] In one embodiment, reference is made to Figure 1 and Figure 2 The center distance line of the second parallel shaft gear assembly 4 is parallel to the center distance line of the first parallel shaft gear assembly 3, and the angle between the center distance line of the third parallel shaft gear assembly 5 and the center distance line of the first parallel shaft gear assembly 3 is 44°-46°.

[0052] As an example, the center distance line of the second parallel shaft gear assembly 4 is parallel or approximately parallel to the center distance line of the first parallel shaft gear assembly 3, so that the first and second stages of transmission advance in the same direction, effectively suppressing the radial length of the reduction assembly; while the angle between the center distance line of the third parallel shaft gear assembly 5 and the center distance line of the first parallel shaft gear assembly 3 is 44°-46° (preferably 45°), so that the third parallel shaft gear assembly 5 is significantly deflected relative to the first parallel shaft gear assembly 3 and the second parallel shaft gear assembly 4, folding and turning the structure that originally needed to continue extending radially. The precise positioning of the third-stage output axis in the plane is achieved, so that it falls exactly on the radial edge region of the end cover 101. This is sufficient to meet the edge layout requirements of the main drive component 21, while avoiding excessive outward protrusion to control the radial envelope. This significantly shortens the overall radial dimension of the reducer, creating conditions for the subsequent reversing transmission assembly 2 to have the layout of "the main drive component 21 in the radial edge region of the motor and the driven component 22 in the radial center region of the motor". This fundamentally ensures the radial compactness of the transmission system and provides an excellent compact transmission solution for the end effector of dexterous fingers or robot finger joints.

[0053] In one embodiment, reference is made to Figure 1 and Figure 2 The center distance line of the reversing transmission assembly 2 is parallel to the center distance line of the third parallel shaft gear assembly 5.

[0054] As an example, the center distance line of the third parallel shaft gear assembly 5 has been deflected by 44°-46° relative to the center distance line of the first parallel shaft gear assembly 3. In the axial direction of the motor, the first parallel shaft gear assembly 3 and the second parallel shaft gear assembly 4 are parallel or approximately parallel. The deflection of the third parallel shaft gear assembly 5 folds and turns the structure that originally needed to continue to extend radially, thereby achieving precise positioning of the output axis of the third parallel shaft gear assembly 5 in the plane, so that it falls exactly in the radial edge area of ​​the end cover 101. Meanwhile, the center distance line of the reversing transmission assembly 2 is set to be parallel or approximately parallel to the center distance line of the third parallel shaft gear assembly 5. With this setting, in the axial direction of the motor, the reversing transmission assembly 2 and the third parallel shaft gear assembly 5 are parallel or approximately parallel. The projection of the main transmission component 21 onto the plane where the end cover 101 is located is located in the radial edge region of the end cover 101. The projection of the driven component 22 onto the plane where the end cover 101 is located is completely or mostly within the range of the end cover 101. This allows the driven component 22 to make full use of the radial space occupied by the end cover 101, avoids the additional protrusion of the driven component 22 in the radial direction, effectively reduces the overall size of the transmission system in the radial direction of the motor, greatly reduces the risk of spatial interference with surrounding accessories, and is conducive to the miniaturization and compact design of the transmission system.

[0055] This utility model provides an end effector, including a transmission system configured to be placed at the joint of the end effector.

[0056] As an example, the end effector includes the aforementioned drive system, which is configured to be placed at the joints of the end effector (such as finger joints, wrist joints, elbow joints, ankle joints, gripper joints), so that the overall external dimensions of the end effector are determined only by the outer diameter of the motor and the joint connection structure, reducing its constraint by the radial dimensions of the drive system and achieving extreme compactness of the end effector.

[0057] In this embodiment, the transmission system adopts a three-stage parallel shaft gear and worm gear combination scheme. Specifically, the first driving gear 31 is coaxially and fixedly connected to the output shaft of the motor 1; the first driving gear 31 meshes with the first driven gear 32; the first driven gear 32 and the second driving gear 41 are coaxially and fixedly connected; the second driving gear 41 and the second driven gear 42 mesh; the second driven gear 42 and the third driving gear 51 are coaxially and fixedly connected; the third driving gear 51 and the third driven gear 52 mesh; the third driven gear 52 and the worm gear are coaxially and fixedly connected; and the worm gear meshes with the worm wheel. The center distance of the second parallel shaft gear assembly 4 is the same as the center distance of the first parallel shaft gear assembly 3. The center distance of the third parallel shaft gear assembly 5 is 1.5 times that of the second parallel shaft gear assembly 4, and the center distance line of the second parallel shaft gear assembly 4 is parallel to the center distance line of the first parallel shaft gear assembly 3. The angle between the center distance line of the third parallel shaft gear assembly 5 and the center distance line of the first parallel shaft gear assembly 3 is 44°-46°. The center distance line of the worm gear is parallel to the center distance line of the third parallel shaft gear assembly 5. This setting can achieve smaller axial and radial dimensions, and at the same time, smaller play can be achieved by reasonably controlling the gear backlash. The use of a worm gear in the last stage can significantly increase the overall transmission ratio, which is very practical for applications with a large transmission ratio and compact size. By combining a 40Cr or 45 steel worm with a PEEK worm gear, the transmission efficiency of the worm gear pair is higher than that of metal-to-metal pairing, with better wear resistance and reliability, and extended service life. This solves the pain points of related transmission schemes, such as large size, small speed ratio, poor wear resistance, and short service life.

[0058] This utility model provides a robot, including an end effector.

[0059] As an example, the robot includes an end effector, which is the end effector in the above embodiments and will not be described again.

[0060] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A transmission system, characterized in that, include: An electric motor for providing power, the electric motor including an output shaft and an end cover; A speed reduction assembly includes an input end and an output end. The input end of the speed reduction assembly is connected to the output shaft of the motor, and the rotation axis of the input end of the speed reduction assembly is parallel to the rotation axis of the output end of the speed reduction assembly. The reversing transmission assembly includes a main transmission component and a driven transmission component that engage in meshing transmission. The rotation axis of the main transmission component and the rotation axis of the driven transmission component have a non-zero included angle to achieve a change in transmission direction. The main transmission component is connected to the output end of the reduction assembly, and the driven transmission component can be used to drive the load movement. Wherein, the projection from the transmission member to the plane where the end cap is located is within the range of the end cap, or the first part of the projection from the transmission member to the plane where the end cap is located is within the range of the end cap, and the second part of the projection from the transmission member to the plane where the end cap is located is outside the range of the end cap, and the area of ​​the first part is greater than the area of ​​the second part.

2. The transmission system according to claim 1, characterized in that, The main transmission component includes a worm gear, and the driven transmission component includes a worm wheel; Alternatively, the main transmission component may include a driving bevel gear, and the driven transmission component may include a driven bevel gear.

3. The transmission system according to claim 1, characterized in that, The reduction gear assembly includes at least one set of parallel shaft gear assemblies. Each set of parallel shaft gear assemblies includes a driving gear and a driven gear that mesh with each other. The rotation axis of the driving gear and the rotation axis of the driven gear are parallel. The number of teeth of the driving gear in each set of parallel shaft gear assemblies is less than the number of teeth of the driven gear.

4. The transmission system according to claim 3, characterized in that, The at least one set of parallel shaft gear assemblies includes a first parallel shaft gear assembly, a second parallel shaft gear assembly, and a third parallel shaft gear assembly. The first parallel shaft gear assembly includes a first driving gear and a first driven gear. The second parallel shaft gear assembly includes a second driving gear and a second driven gear. The third parallel shaft gear assembly includes a third driving gear and a third driven gear. The first driving gear is driven and connected to the output shaft of the motor. The first driven gear can be driven to rotate by the first driving gear. The second driving gear can be driven to rotate by the first driven gear. The second driven gear can be driven to rotate by the second driving gear. The third driving gear can be driven to rotate by the third driving gear. The third driven gear can drive the main transmission component to rotate.

5. The transmission system according to claim 4, characterized in that, The first driving gear meshes with the first driven gear, the first driven gear and the second driving gear are coaxially and fixedly connected, the second driving gear meshes with the second driven gear, the second driven gear and the third driving gear are coaxially and fixedly connected, the third driving gear meshes with the third driven gear, and the third driven gear and the main transmission component are coaxially and fixedly connected.

6. The transmission system according to claim 5, characterized in that, The center distance of the second parallel shaft gear assembly is 1.5 times the center distance of the first parallel shaft gear assembly, and the center distance of the third parallel shaft gear assembly is 0.7 times the center distance of the second parallel shaft gear assembly.

7. The transmission system according to claim 6, characterized in that, The center distance line of the second parallel shaft gear assembly is parallel to the center distance line of the first parallel shaft gear assembly, and the angle between the center distance line of the third parallel shaft gear assembly and the center distance line of the first parallel shaft gear assembly is 44°-46°.

8. The transmission system according to claim 7, characterized in that, The center distance line of the reversing transmission assembly is parallel to the center distance line of the third parallel shaft gear assembly.

9. An end effector, characterized in that, The transmission system includes any one of claims 1-8, wherein the transmission system is configured to be placed at the joint of the end effector.

10. A robot, characterized in that, Includes the end effector as described in claim 9.

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