WO2023124727A1 - 机器人及其传动机构 - Google Patents

机器人及其传动机构 Download PDF

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Publication number
WO2023124727A1
WO2023124727A1 PCT/CN2022/135573 CN2022135573W WO2023124727A1 WO 2023124727 A1 WO2023124727 A1 WO 2023124727A1 CN 2022135573 W CN2022135573 W CN 2022135573W WO 2023124727 A1 WO2023124727 A1 WO 2023124727A1
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WO
WIPO (PCT)
Prior art keywords
shaft
shaft body
transmission mechanism
rotating member
axis
Prior art date
Application number
PCT/CN2022/135573
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English (en)
French (fr)
Inventor
吴文镜
姬四杰
金明亮
Original Assignee
美的集团(上海)有限公司
美的集团股份有限公司
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Application filed by 美的集团(上海)有限公司, 美的集团股份有限公司 filed Critical 美的集团(上海)有限公司
Publication of WO2023124727A1 publication Critical patent/WO2023124727A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • the present application relates to the technical field of robots, in particular to a robot and its transmission mechanism.
  • conventional SCARA robots generally use a combination of a motor and a reducer as the driving device for one or two axes.
  • This method usually uses a harmonic reducer or an RV reducer.
  • the above-mentioned reducer has high cost and limited accuracy.
  • the layout of the conventional whole machine adopts the direct connection of the two-axis driving device with the forearm. This method leads to a large demand for the output torque of one axis, and requires the use of a larger motor or reducer, which makes the volume and weight of the whole machine too large. Affect the performance of the whole machine.
  • the two-axis driving device is moved backward, and the small arm is driven by the synchronous belt transmission, which can reduce the weight and size of the whole machine.
  • the transmission precision of synchronous belt transmission is not enough, the transmitted torque is not large, and the rigidity is not high, which affects the performance of the whole machine.
  • the present application mainly provides a robot and its transmission mechanism to solve the problems of insufficient transmission precision, small transmitted torque and low rigidity of the existing transmission mechanism.
  • the transmission mechanism includes: two sets of rotating parts, each group of rotating parts includes a first rotating part and a second rotating part coaxially arranged;
  • the first shaft body and the second shaft body, the axis of the first shaft body and the axis line of the second shaft body are not collinear;
  • the first shaft body is connected with the first rotating member and relatively
  • a rotating member is arranged eccentrically,
  • the second shaft body is connected with the second rotating member and arranged eccentrically relative to the second rotating member;
  • two first connecting rods one of the two ends of the first connecting rod rotates
  • the two first shafts are connected, and the two ends of the other first connecting rod are rotationally connected to the two second shafts; wherein, the first rotating member or the second rotating member in a set of rotating members rotates
  • the crankshaft connected to it is driven to rotate, and the two crankshafts are alternately transmitted through the two first connecting rods to drive another set of rotating parts to rotate.
  • the axis of the first shaft is parallel to the axis of the second shaft.
  • the offset angle of the axis of the first shaft relative to the axis of the second shaft is greater than 0° and less than 180°.
  • the connecting arm is rod-shaped, and the first shaft and the second shaft are arranged at two ends of the connecting arm.
  • the crankshaft further includes at least one third shaft body, the axis of the third shaft body is parallel to the axis line of the first shaft body, and the connecting arm includes at least two sub-arms adjacent to each other. The two sub-arms are fixedly connected through the third shaft body;
  • the transmission mechanism also includes a second connecting rod, the number of the second connecting rod is the same as the number of the third shaft, and the two ends of the second connecting rod are rotatably connected to the corresponding ones of the two crankshafts. on the two third shafts.
  • the axis of the first rotating member as a reference line
  • the axis of the first shaft body and the axis of the second shaft body are offset relative to the axis of the adjacent third shaft body.
  • the shift angle is greater than 0° and less than 180°.
  • the offset angle between the axes of two adjacent third shaft bodies is greater than 0° and less than 180°.
  • two adjacent sub-arms are arranged in an offset manner.
  • the first link and the second link are equal in length.
  • the transmission mechanism further includes a first bearing and a second bearing, the first bearing is arranged between the first shaft and a corresponding first connecting rod, and the second The bearing is arranged between the second shaft body and the corresponding other first connecting rod.
  • the first rotating member is provided with a first positioning portion, the first positioning portion is eccentrically arranged relative to the first rotating member, and the end of the first shaft body away from the connecting arm and The first positioning part is connected in alignment;
  • the second rotating part is provided with a second positioning part, the second positioning part is eccentrically arranged relative to the second rotating part, and the second shaft body is away from the connection One end of the arm is aligned with the second positioning portion.
  • the first positioning portion and the second positioning portion are both positioning grooves
  • both the first shaft body and the second shaft body include a first shaft section and a second shaft section arranged in steps.
  • a shaft section, the shaft diameter of the first shaft section is larger than the shaft diameter of the second shaft section, the first bearing or the second bearing is sleeved on the first shaft section, and the second shaft section Inserted in the positioning slot, and the step surface between the first shaft section and the second shaft section stops against the end surface of the positioning slot.
  • both the first shaft body and the second shaft body are provided with a first connection hole and a first positioning hole, and a plurality of the first positioning holes are arranged around the first connection hole;
  • the bottom wall of the positioning groove is provided with a second connection hole and a second positioning hole, and a plurality of the second positioning holes are arranged around the second connection hole;
  • the first positioning hole and the second positioning hole are connected by a positioning piece, and the first connecting hole and the second connecting hole are connected by a fastener.
  • the first shaft body and the second shaft body are also provided with a weight-reducing groove
  • the connecting arm is provided with an escape hole corresponding to the weight-reducing groove
  • the first connecting hole And the first positioning hole is arranged on the bottom wall of the weight reducing groove.
  • the robot includes: a main transmission arm; the above-mentioned transmission mechanism, which is arranged in the main transmission arm; The first rotating member is coaxially fixed; the auxiliary driving mechanism is coaxially fixed with the other first rotating member in the transmission mechanism to drive the auxiliary transmission arm to rotate; the main driving mechanism is connected to the main driving mechanism.
  • the main transmission arm is connected to drive the main transmission arm to rotate; wherein, the main driving mechanism and the auxiliary driving mechanism are both arranged at the end of the main transmission arm away from the auxiliary transmission arm, and are respectively located at the The two opposite sides of the main transmission arm.
  • each group of rotating parts includes a first rotating part and a second rotating part coaxially arranged, and the first rotating part is also used to connect external structural parts to realize power transmission, and the first rotating part and the second rotating part
  • An eccentrically arranged crankshaft is arranged between the rotating parts, and the two first connecting rods are rotatably connected to the two crankshafts, and the two first connecting rods are in different rotation planes, do not interfere with each other, and can be driven by each other to achieve Passing through the dead point positions of each other smoothly, so as to form a continuous full-cycle transmission, the power transmission between the two sets of rotating parts can be realized through the crankshaft and the first connecting rod, and the double-link transmission structure can further improve the transmission accuracy, and Its transferable torque is greater and its overall stiffness is higher.
  • Fig. 1 is a schematic structural view of an embodiment of a robot provided by the present application
  • Fig. 2 is the structural representation of main transmission arm and transmission mechanism in the robot shown in Fig. 1;
  • Fig. 3 is a schematic diagram of the explosion structure of the main transmission arm and the transmission mechanism shown in Fig. 2;
  • Fig. 4 is a schematic structural view of the transmission mechanism shown in Fig. 2;
  • Fig. 5 is a schematic diagram of the assembly structure of the crankshaft and the first connecting rod in the transmission mechanism shown in Fig. 4;
  • Fig. 6 is a schematic structural view of the crankshaft in the transmission mechanism shown in Fig. 5;
  • Fig. 7 is a top structural schematic diagram of a set of rotating parts and a crankshaft in the transmission mechanism shown in Fig. 4;
  • Fig. 8 is a schematic diagram of the assembly structure of the crankshaft, the first connecting rod and the second connecting rod in the transmission mechanism shown in Fig. 4;
  • Fig. 9 is a structural schematic diagram of the crankshaft shown in Fig. 8 .
  • first”, “second”, and “third” in the embodiments of the present application are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined as “first”, “second”, and “third” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the terms “include” and “have”, as well as any variations thereof, are intended to cover a non-exclusive inclusion.
  • a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these processes, methods, products or devices.
  • FIG. 1 is a schematic structural diagram of an embodiment of the robot provided in the present application
  • FIG. 2 is a schematic structural diagram of the main transmission arm and transmission mechanism in the robot shown in FIG. 1 .
  • the robot 100 includes a main drive mechanism 10, an auxiliary drive mechanism 20, an auxiliary transmission arm 30, a main transmission arm 40 and a transmission mechanism 50, wherein the transmission mechanism 50 is arranged in the main transmission arm 40, and the auxiliary transmission arm 30 is rotatably arranged on the main transmission arm 40, and the auxiliary transmission arm 30 is connected to one end of the transmission mechanism 50, and the auxiliary driving mechanism 20 is connected to the other end of the transmission mechanism 50.
  • the auxiliary driving mechanism 20 drives the auxiliary transmission arm 30 through the transmission mechanism 50 relative to the main transmission arm 40 Rotation; the main drive mechanism 10 is connected to the end of the main transmission arm 40 away from the auxiliary transmission arm 30 , and the main drive mechanism 10 drives the main transmission arm 40 to rotate.
  • the main driving mechanism 10 and the auxiliary driving mechanism 20 are both arranged at an end of the main transmission arm 40 away from the auxiliary transmission arm 30 , and are respectively located on two opposite sides of the main transmission arm 40 .
  • the main driving mechanism 10 and the auxiliary driving mechanism 20 are respectively connected to the two ends of the main transmission arm 40, and there is no need to be provided with any type of transmission mechanism 50 in the main transmission arm 40, and the auxiliary driving mechanism 20 is relatively It is arranged close to the auxiliary transmission arm 30 and can directly drive the auxiliary transmission arm 30 to rotate.
  • the present embodiment defines that the main driving mechanism 10 and the auxiliary driving mechanism 20 are both arranged at the end of the main transmission arm 40 away from the auxiliary transmission arm 30, and are respectively located at The two opposite sides of the main transmission arm 40, so that the secondary drive mechanism 20 can be placed behind, can effectively reduce the moment of inertia of one side of the secondary transmission arm 30, and then the rotational moment required to be provided by the main drive mechanism 10 can also be significantly reduced. It is beneficial to use the low-power main driving mechanism 10 to drive the main transmission arm 40 , which can effectively reduce the cost of the robot 100 .
  • the main drive mechanism 10 and the auxiliary drive mechanism 20 adopt a parallel structure, which effectively reduces the main drive mechanism 10 and the auxiliary drive mechanism.
  • the mutual influence of the driving mechanisms 20 on each other further reduces the torque required to be provided by the main driving mechanism 10 , and is also beneficial to reducing the volume of the main driving mechanism 10 .
  • Figure 3 is a schematic diagram of the exploded structure of the main transmission arm and the transmission mechanism shown in Figure 2
  • Figure 4 is a schematic structural diagram of the transmission mechanism shown in Figure 2
  • Figure 5 is a schematic diagram of the transmission mechanism shown in Figure 4 Schematic diagram of the assembly structure of the middle crankshaft and the first connecting rod.
  • the main transmission arm 40 includes a main arm housing 41 and a main arm cover (not shown), the main arm cover is connected to the main arm housing 41 to cover the space in the main arm housing 41 .
  • the transmission mechanism 50 includes two sets of rotating parts 51, two crankshafts 52 and two first connecting rods 53, one crankshaft 52 is correspondingly arranged on one group of rotating parts 51, and the two first connecting rods 53 is rotatably connected between the two crankshafts 52 .
  • Each set of rotating parts 51 includes a first rotating part 511 and a second rotating part 512 arranged coaxially.
  • the first rotating part 511 and the second rotating part 512 are arranged at intervals. Between the two rotating parts 512 , the first rotating part 511 is rotatably mounted on the main arm cover, and the second rotating part 512 is rotatably mounted on the main arm housing 41 .
  • both the first rotating member 511 and the second rotating member 512 are flanges.
  • first rotating member 511 and the second rotating member 512 may also include a rotating shaft and an extension arm arranged at one end of the rotating shaft, the extending arm is perpendicular to the axis of the rotating shaft, and the crankshaft 52 is connected to the end of the extending arm away from the rotating shaft .
  • the main arm housing 41 and the main arm cover are provided with a bearing installation part 411, the bearing 412 is installed on the bearing installation part 411, and the first rotating part 511 and the second rotating part 512 are installed on the corresponding
  • the inner ring of the bearing 412 can further improve the transmission accuracy and transmission efficiency of the first rotating member 511 and the second rotating member 512; in the two groups of rotating members 51, the outer dimensions of the two first rotating members 511 can be the same or different, and the two The external dimensions of the two second rotating members 512 can also be the same or different, and the external dimensions can be adaptively adjusted according to the structural dimensions of the main transmission arm 40 .
  • crankshafts 52 include a connecting arm 520 and a first shaft body 521 and a second shaft body 522 arranged on two opposite sides of the connecting arm 520 , that is, the first shaft body 521 and the second shaft body 522 are located on the connecting arm 520 facing away from each other. the two sides; the axis of the first shaft 521 and the axis of the second shaft 522 are not collinear, in other words, the axis of the first shaft 521 and the axis of the second shaft 522 may be parallel or intersecting, or not noodle.
  • the first shaft body 521 is connected to the first rotating member 511 and is arranged eccentrically relative to the first rotating member 511
  • the second shaft body 522 is connected to the second rotating member 512 and is opposite to the second rotating member 512.
  • the eccentric distance of the first shaft 521 relative to the center of the circle of the first rotating member 511 may be equal to or not equal to the eccentric distance of the second shaft 522 relative to the center of the circle of the second rotating member 512 .
  • the lengths of the two first connecting rods 53 are equal, and the two ends of one first connecting rod 53 are rotatably connected to the two first shafts 521, and the two ends of the other first connecting rod 53 are rotatably connected to the two second shafts 522. That is, the two first connecting rods 53 are respectively located on both sides of the connecting arm 520, and are located on different motion planes, that is, the two first connecting rods 53 do not interfere with each other, and can be driven by each other to pass through each other's dead ends smoothly. point position, thus forming a continuous transmission.
  • first rotating member 511 or the second rotating member 512 in a group of rotating members 51 rotates, it drives the crankshaft 52 connected thereto to rotate, and then the first rotating member 511 and the second rotating member in the group of rotating members 51 rotate
  • the parts 512 are driven by the crankshaft 52 to rotate, and the two crankshafts 52 are interlacedly transmitted through the two first connecting rods 53 to drive each other, and can smoothly pass through each other's dead point positions, and then drive another group to rotate
  • the member 51 rotates, that is, the first rotating member 511 and the second rotating member 512 in the other set of rotating members 51 both rotate.
  • the auxiliary transmission arm 30 is coaxially fixed with a first rotating member 511 in the transmission mechanism 50; the auxiliary driving mechanism 20 is coaxially fixed with another first rotating member 511 in the transmission mechanism 50 to drive the auxiliary transmission arm 30 turn.
  • any one of the first rotating member 511 and the second rotating member 512 in one set of rotating members 51 of the auxiliary transmission arm 30 is coaxially fixed, and the auxiliary driving mechanism 20 can be rotated with the first rotating member 51 of the other group.
  • Either one of the member 511 and the second rotating member 512 is coaxially fixed.
  • the auxiliary drive mechanism 20 drives the other first rotating member 511 to rotate, and the first rotating member 511 drives the eccentrically arranged crankshaft 52, and transmits to the other crankshaft 52 through the first connecting rod 53, and finally drives another set of rotating members 51
  • the first rotating member 511 rotates to drive the auxiliary transmission arm 30 to rotate around the axis of the first rotating member 51 , wherein the second rotating member 512 is used to provide support for the crankshaft 52 and release the restriction on the rotation of the crankshaft 52 .
  • the axis of the first shaft body 521 is parallel to the axis of the second shaft body 522, so that the two first connecting rods 53 can be located in different rotation planes and arranged in parallel.
  • the rotation efficiency is also relatively high.
  • the axis of the first shaft 521 intersects the axis of the second shaft 522, and at least one of the first connecting rods 53 is a multi-link structure, that is, a plurality of connecting rods are sequentially connected to form the first connecting rod 53, so as to transmit the power of the first shaft body 521 or the second shaft body 522 of the special-shaped structure by using the multi-link structure.
  • FIG. 7 is a schematic top view of a set of rotating parts and a crankshaft in the transmission mechanism shown in FIG. 4 .
  • the offset angle of the axis of the first shaft body 521 relative to the axis of the second shaft body 522 is greater than 0° and less than 180°.
  • the first rotating member 511 is a rotating member, and taking the axis of the rotating member as a reference line, the axis of the first shaft 521 is parallel to the axis of the second shaft 522, and the first The angle at which the axis of the shaft body 521 is offset relative to the axis of the second shaft body 522, that is, the angle between the line L1 and the line L2, which is greater than 0° and less than 180°; where the line L1 is connected and perpendicular to the first rotating member
  • the axis of 511 and the axis of the first shaft 521 , and the line L2 connects and is perpendicular to the axis of the first rotating member 511 and the axis of the second shaft 522 .
  • the connecting arm 520 is rod-shaped, the first shaft body 521 and the second shaft body 522 are arranged at the two ends of the connecting arm 520, the axis of the first shaft body 521 and the second shaft body 522 axes parallel to each other.
  • Fig. 8 is a schematic diagram of the assembly structure of the crankshaft, the first connecting rod and the second connecting rod in the transmission mechanism shown in Fig. 4, and Fig. 9 is a schematic structural diagram of the crankshaft shown in Fig. 8 .
  • the crankshaft 52 also includes at least one third shaft body 523, the connecting arm 520 includes at least two sub-arms 524, and the two adjacent sub-arms 524 are fixedly connected through the third shaft body 523;
  • the transmission mechanism 50 also includes a second connecting rod 54,
  • the number of the second connecting rods 54 is the same as the number of the third shafts 523 , and the two ends of the second connecting rods 54 are rotatably connected to the corresponding two third shafts 523 in the two sets of crankshafts 52 .
  • the quantity of the third shaft body 523 can be one, two or three, etc., then the quantity of the corresponding sub-arms 524 is two, three or four, etc., and the two sub-arms 524 are connected by a
  • the third shaft body 523 is fixedly connected, at least one end of the third shaft body 523 is detachably connected to a sub-arm 524 , so as to install the second connecting rod 54 on the third shaft body 523 .
  • the first shaft body 521 is arranged on the sub-arm 524 closest to the first rotating member 511 and connected to the first rotating member 511; the second shaft body 522 is arranged on the sub-arm 524 closest to the second rotating member 512 and connected to The second rotating member 512 .
  • the axes of the first shaft body 521 and the second shaft body 522 are parallel to the axis of the third shaft body 523; if the crankshaft 52 includes at least two third shaft bodies 523, the adjacent two third shaft bodies 523 axes are also parallel to each other.
  • the axis of the first shaft body 521 and the axis of the second shaft body 522 are offset from the axis of the adjacent third shaft body 523 by an angle greater than 0° and less than 180°
  • the first connecting rod 53 and the second connecting rod 54 can be driven with each other for continuous transmission.
  • crankshaft 52 includes at least two third shaft bodies 523, then taking the axis of the first rotating member 511 as a reference line, the offset angle between the axes of two adjacent third shaft bodies 523 is greater than 0° And less than 180°, so as to avoid overlapping of dead center positions of multiple second connecting rods 54 .
  • the two adjacent sub-arms 524 are arranged in a staggered position to optimize the transmission efficiency of the first link 53 and the second link 54 .
  • the lengths of two adjacent sub-arms 524 may be equal or unequal.
  • the lengths of two adjacent sub-arms 524 are equal, and the first shaft body 521, the second shaft body 522 and the third shaft body 523 are all arranged at the ends of the sub-arms 524, wherein the adjacent first shaft body
  • the line connecting the axes of the body 521, the second shaft body 522 and the third shaft body 523 forms a regular polygon, and the line connects and is perpendicular to the axes of two adjacent shaft bodies, so that the transmission efficiency of the transmission mechanism 50 can be optimized. , so that the transmission efficiency of each connecting rod is more balanced, and the transmission is more stable.
  • the axis of the third shaft 523 is parallel to the axis of the first shaft 521, and the lengths of the first connecting rod 53 and the second connecting rod 54 are further equal, so that the transmission mechanism 50 can continuously transmit .
  • the rotation connection modes of the first connecting rod 53 and the second connecting rod 54 may be the same or different, which is not specifically limited in this application.
  • the two ends of the first connecting rod 53 are rotatably connected to the two first shafts 521 or the two second shafts 522, and the two ends of the second connecting rod 54 are rotatably connected to the two second shafts.
  • the three-axis bodies 523 are connected in the same way, and they are all rotatably connected by bearings, so as to reduce resistance loss and improve transmission efficiency and transmission precision.
  • the transmission mechanism 50 also includes a first bearing 551 and a second bearing 552, the first bearing 551 is arranged between the first shaft body 521 and a corresponding first connecting rod 53, and the second bearing 552 is arranged between the second shaft body 522 and the corresponding other first connecting rod 53, and washers are also provided at the two sections of the first bearing 551 and the second bearing 552 to fix it axially and prevent it from Axial movement.
  • the first positioning part (not shown) is provided on the first rotating part 511, and the first positioning part is arranged eccentrically relative to the first rotating part 511, and the end of the first shaft body 521 away from the connecting arm 520 is aligned with the first positioning part.
  • the second rotating member 512 is provided with a second positioning portion 513 , the second positioning portion 513 is eccentrically arranged relative to the second rotating member 512 , and the end of the second shaft body 522 away from the connecting arm 520 is aligned with the second positioning portion 513 .
  • the first positioning portion and the second positioning portion 513 can be positioning grooves or positioning protrusions, so as to facilitate the alignment connection of the corresponding first shaft body 521 or the second shaft body 522 , which can improve assembly efficiency.
  • both the first positioning part and the second positioning part 513 are positioning grooves
  • the first shaft body 521 and the second shaft body 522 both include a first shaft section 525 and a second shaft section 526 arranged in steps.
  • the shaft diameter of the first shaft section 525 is larger than the shaft diameter of the second shaft section 526
  • the first bearing 551 or the second bearing 552 is sleeved on the first shaft section 525
  • the second shaft section 526 is inserted in the positioning groove
  • the second The stepped surface between the first shaft section 525 and the second shaft section 526 stops against the end surface of the positioning groove, which can eliminate the axial force applied to the first bearing 551 and the second bearing 552 .
  • the first shaft body 521 and the second shaft body 522 are provided with a first connection hole 527 and a first positioning hole 528, and a plurality of first positioning holes 528 are arranged around the first connection hole 527;
  • the bottom wall of the positioning groove is provided with a second connecting hole 515 and a second positioning hole 516, and a plurality of second positioning holes 516 are arranged around the second connecting hole 515;
  • the first positioning hole 528 and the second positioning hole 516 are connected by a positioning piece , to ensure the coaxiality between the crankshaft 52 and the first rotating member 511 and the second rotating member 512, which is conducive to improving transmission accuracy and transmission efficiency;
  • the first connecting hole 527 and the second connecting hole 515 are connected by fasteners.
  • the positioning part can be a pin or a bolt, etc.
  • the fastener can be a screw or a stud, etc.
  • the first connection hole is a light hole
  • the second connection hole is a threaded hole.
  • the aperture of the light hole is larger than the aperture of the threaded hole, which can eliminate the hole Processing tolerances make it easier to install.
  • the first positioning hole 528 and the second positioning hole 516 are firstly connected by a positioning member to align the position of the first shaft body 521 or the second shaft body 522 with the positioning groove, and then fastened by a fastener.
  • the first shaft body 521 and the second shaft body 522 are also provided with a weight-reducing groove 529
  • the connecting arm 520 is provided with an escape hole corresponding to the weight-reducing groove 529
  • the first connecting hole 527 and the first positioning hole 528 is arranged on the bottom wall of the weight-reducing groove 529, which can make the crankshaft 52 lighter and easier to be driven and reduce energy loss.
  • the first connecting rod 53 and/or the second connecting rod 54 is provided with a weight-reducing hole to reduce the weight of the first connecting rod 53 and/or the second connecting rod 54, improve its transmission efficiency, and help reduce energy loss.
  • each group of rotating parts includes a first rotating part and a second rotating part coaxially arranged, and the first rotating part is also used to connect external structural parts to realize power transmission, and the first rotating part and the second rotating part
  • An eccentrically arranged crankshaft is arranged between the rotating parts, and the two first connecting rods are rotatably connected to the two crankshafts, and the two first connecting rods are in different rotation planes, do not interfere with each other, and can be driven by each other to achieve Pass through the dead point positions of each other smoothly, so as to form a continuous transmission, that is, the power transmission between the two sets of rotating parts can be realized through the crankshaft and the first connecting rod, and the double-link transmission structure can further improve the transmission accuracy, and it can
  • the transmitted moment is larger, the overall rigidity is higher, and the transmission mechanism provided by the application has a simple structure, easy processing and installation, and low cost.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

一种机器人（100）及其传动机构（50），传动机构（50）包括：两组转动件（51），每组转动件（51）均包括共轴线设置的第一转动件（511）和第二转动件（512）；两个曲轴（52），两个曲轴（52）均包括连接臂（520）和设置于连接臂（520）两对侧的第一轴体（521）、第二轴体（522），第一轴体（521）的轴线和第二轴体（522）的轴线不共线；第一轴体（521）与第一转动件（511）连接且相对第一转动件（511）偏心设置，第二轴体（522）与第二转动件（512）连接且相对第二转动件（512）偏心设置；两个第一连杆（53），其中一第一连杆（53）的两端转动连接两个第一轴体（521），另一第一连杆（53）的两端转动连接两个第二轴体（522）。

Description

机器人及其传动机构 【技术领域】
本申请涉及机器人技术领域，特别是涉及一种机器人及其传动机构。
【背景技术】
目前，常规SCARA机器人一般采用电机与减速机的组合作为一二轴的驱动装置，该方式通常采用谐波减速机或RV减速机，上述减速机成本高、精度有限制。并且常规整机布局采用将二轴驱动装置直接与小臂连接，该种方式导致对一轴输出力矩需求较大，需要采用较大的电机或减速机，从而使整机的体积、重量过大影响了整机性能。
因此出现了将二轴的驱动装置后移，通过同步带传动带动小臂运动，该方式可降低整机重量及尺寸。但目前，同步带传动的传动精度不够，所传递的力矩不大，刚度不高，对整机性能有影响。
【发明内容】
本申请主要提供一种机器人及其传动机构，以解决现有传动机构传动精度不够、所传递的力矩不大及刚度不高的问题。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种传动机构。所述传动机构包括：两组转动件，每组转动件均包括共轴线设置的第一转动件和第二转动件；两个曲轴，均包括连接臂和设置于所述连接臂两对侧的第一轴体、第二轴体，所述第一轴体的轴线和所述第二轴体的轴线不共线；所述第一轴体与所述第一转动件连接且相对所述第一转动件偏心设置，所述第二轴体与所述第二转动件连接且相对所述第二转动件偏心设置；两个第一连杆，其中一所述第一连杆的两端转动连接两个所述第一轴体，另一所述第一连杆的两端转动连接两个所述第二轴体；其中，一组转动件中的第一转动件或第二转动件转动时，带动与其相连接的曲轴转动，两个曲轴之间通过两个第一连杆交错传动， 进而驱动另一组转动件转动。
在一些实施例中，所述第一轴体的轴线和所述第二轴体的轴线相平行。
在一些实施例中，以所述第一转动件的轴线为基准线，所述第一轴体的轴线相对所述第二轴体的轴线偏移的角度大于0°且小于180°。
在一些实施例中，所述连接臂呈杆状，所述第一轴体和所述第二轴体设置于所述连接臂的两端。
在一些实施例中，所述曲轴还包括至少一个第三轴体，所述第三轴体的轴线与所述第一轴体的轴线相平行，所述连接臂包括至少两个子臂，相邻的两个所述子臂通过所述第三轴体固定连接；
所述传动机构还包括第二连杆，所述第二连杆的数量与所述第三轴体的数量相同，所述第二连杆的两端转动连接于所述两个曲轴中相应的两个所述第三轴体上。
在一些实施例中，以所述第一转动件的轴线为基准线，所述第一轴体的轴线和所述第二轴体的轴线均相对相邻的所述第三轴体的轴线偏移的角度大于0°且小于180°。
在一些实施例中，以所述第一转动件的轴线为基准线，相邻的两个所述第三轴体的轴线之间偏移的角度大于0°且小于180°。
在一些实施例中，相邻的两个所述子臂错位设置。
在一些实施例中，所述第一连杆和所述第二连杆的长度相等。
在一些实施例中，所述传动机构还包括第一轴承和第二轴承，所述第一轴承设置于所述第一轴体和相应的一所述第一连杆之间，所述第二轴承设置于所述第二轴体和相应的另一所述第一连杆之间。
在一些实施例中，所述第一转动件上设有第一定位部，所述第一定位部相对所述第一转动件偏心设置，所述第一轴体背离所述连接臂的一端与所述第一定位部对位连接；所述第二转动件上设有第二定位部，所述第二定位部相对所述第二转动件偏心设置，所述第二轴体背离所述连接臂的一端与所述第二定位 部对位连接。
在一些实施例中，所述第一定位部和所述第二定位部均为定位槽，所述第一轴体和所述第二轴体均包括呈阶梯设置的第一轴段和第二轴段，所述第一轴段的轴径大于所述第二轴段的轴径，所述第一轴承或所述第二轴承套设于所述第一轴段，所述第二轴段插设于所述定位槽内，且所述第一轴段和所述第二轴段之间的台阶面止挡于所述定位槽的端面。
在一些实施例中，所述第一轴体和所述第二轴体上均设有第一连接孔和第一定位孔，多个所述第一定位孔围绕所述第一连接孔设置；
所述定位槽的底壁上设有第二连接孔和第二定位孔，多个所述第二定位孔围绕所述第二连接孔设置；
所述第一定位孔和所述第二定位孔通过定位件连接，所述第一连接孔和所述第二连接孔通过紧固件连接。
在一些实施例中，所述第一轴体和所述第二轴体还设有减重槽，所述连接臂上设有与所述减重槽对应的避让孔，所述第一连接孔和所述第一定位孔设置于所述减重槽的底壁。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种机器人。所述机器人包括：主传动臂；如上述的传动机构，其设置于所述主传动臂内；副传动臂，转动设置于所述主传动臂的一端，且与所述传动机构中一所述第一转动件同轴固定；副驱动机构，与所述传动机构中另一所述第一转动件同轴固定，以驱动所述副传动臂转动；主驱动机构，所述主驱动机构与所述主传动臂连接，用于驱动所述主传动臂转动；其中，所述主驱动机构和所述副驱动机构均设置于所述主传动臂远离所述副传动臂的一端，且分别位于所述主传动臂的两对侧。
本申请的有益效果是：区别于现有技术的情况，本申请公开了一种机器人及其传动机构。通过设置两组转动件，每组转动件包括共轴线设置的第一转动件和第二转动件，第一转动件还用于连接外部结构件，以实现动力传输，第一 转动件和第二转动件之间设置偏心设置的曲轴，两个第一连杆转动连接于两个曲轴上，且两个第一连杆处于不同的转动平面内，彼此互不干涉，并能够通过相互带动，以顺利通过彼此的死点位置，从而可形成连续整周传动，即可通过曲轴和第一连杆实现两组转动件之间的动力传输，且双连杆传动结构还可进一步提升传动精度，及其可传递的力矩更大，整体刚度更高。
【附图说明】
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，其中：
图1是本申请提供的机器人一实施例的结构示意图；
图2是图1所示机器人中主传动臂和传动机构的结构示意图；
图3是图2所示主传动臂和传动机构的爆炸结构示意图；
图4是图2中所示传动机构的结构示意图；
图5是图4所示传动机构中曲轴和第一连杆的装配结构示意图；
图6是图5所示传动机构中曲轴的结构示意图；
图7是图4所示传动机构中一组转动件和曲轴的俯视结构示意图；
图8是图4所示传动机构中曲轴和第一连杆、第二连杆的装配结构示意图；
图9是图8中所示曲轴的结构示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例中的术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括至少一个该特征。本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其他实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其他实施例相结合。
本申请提供一种机器人100，参阅图1和图2，图1是本申请提供的机器人一实施例的结构示意图，图2是图1所示机器人中主传动臂和传动机构的结构示意图。
该机器人100包括主驱动机构10、副驱动机构20、副传动臂30、主传动臂40和传动机构50，其中传动机构50设置于主传动臂40内，副传动臂30转动设置于主传动臂40的一端，且副传动臂30与传动机构50的一端传动连接，副驱动机构20与传动机构50的另一端传动连接，副驱动机构20通过传动机构50驱动副传动臂30相对主传动臂40转动；主驱动机构10与主传动臂40上远离副传动臂30的一端连接，主驱动机构10驱动主传动臂40转动。
其中，主驱动机构10和副驱动机构20均设置于主传动臂40远离副传动臂30的一端，且分别位于主传动臂40的两对侧。
在现有的机器人中，常见于主驱动机构10和副驱动机构20分别连接于主 传动臂40的两端，且主传动臂40内无需设置有任何类型的传动机构50，副驱动机构20相对靠近副传动臂30设置，并可直接驱动副传动臂30转动。
相对于上述实施例中副驱动机构20相对靠近副传动臂30设置，本实施例通过限定主驱动机构10和副驱动机构20均设置于主传动臂40远离副传动臂30的一端，且分别位于主传动臂40的两对侧，以将副驱动机构20后置，可有效地降低副传动臂30一侧的转动惯量，进而主驱动机构10所需提供的转动力矩也能够得到显著地降低，有利于采用小功率的主驱动机构10驱动主传动臂40，可有效地降低机器人100的成本。
换言之，相比于现有主驱动机构10和副驱动机构20的串联结构形式，本实施例中，主驱动机构10和副驱动机构20采用并联的结构形式，有效地降低主驱动机构10和副驱动机构20对彼此的相互影响，且进一步地降低了主驱动机构10所需提供的力矩，也有利于减小主驱动机构10的体积。
结合参阅图1至图5，其中图3是图2所示主传动臂和传动机构的爆炸结构示意图，图4是图2中所示传动机构的结构示意图，图5是图4所示传动机构中曲轴和第一连杆的装配结构示意图。
主传动臂40包括主臂壳体41和主臂盖板(图未示)，主臂盖板连接于主臂壳体41上，以封盖主臂壳体41内的空间。
如图3至图5所示，传动机构50包括两组转动件51、两个曲轴52和两个第一连杆53，一个曲轴52对应设置于一组转动件51，两个第一连杆53转动连接于两个曲轴52之间。
每组转动件51均包括共轴线设置的第一转动件511和第二转动件512，第一转动件511和第二转动件512相间隔设置，曲轴52固定连接于第一转动件511和第二转动件512之间，其中第一转动件511转动安装于主臂盖板上，第二转动件512转动安装于主臂壳体41上。
本实施例中，第一转动件511和第二转动件512均为法兰。
可选地，第一转动件511和第二转动件512还可以包括转轴和设置于转轴 一端的延伸臂，该延伸臂与转轴的轴线相垂直，曲轴52与该延伸臂远离转轴的一端相连接。
如图3所示，主臂壳体41和主臂盖板上均设有轴承安装部411，轴承412安装于轴承安装部411，第一转动件511和第二转动件512均安装于对应的轴承412的内圈，进而可提高第一转动件511和第二转动件512的传动精度和传动效率；两组转动件51中，两个第一转动件511的外形尺寸可以相同或不同，两个第二转动件512的外形尺寸也可以相同或不同，其外形尺寸依据主传动臂40的结构尺寸进行适应性调整。
参阅图5和图6，其中图6是图5所示传动机构中曲轴的结构示意图。两个曲轴52均包括连接臂520和设置于连接臂520两对侧的第一轴体521、第二轴体522，即第一轴体521和第二轴体522位于连接臂520上相背的两侧；第一轴体521的轴线和第二轴体522的轴线不共线，换言之，第一轴体521的轴线和第二轴体522的轴线可以相平行或相交，也可以不共面。
如图3至图6所示，第一轴体521与第一转动件511连接且相对第一转动件511偏心设置，第二轴体522与第二转动件512连接且相对第二转动件512偏心设置，第一轴体521相对第一转动件511的圆心的偏心距离可以等于或不等于第二轴体522相对第二转动件512的圆心的偏心距离。
两个第一连杆53的长度相等，其中一第一连杆53的两端转动连接两个第一轴体521，另一第一连杆53的两端转动连接两个第二轴体522，即两个第一连杆53分别位于连接臂520的两侧，且位于不同的运动平面，即两个第一连杆53彼此互不干涉，并能够通过相互带动，以顺利通过彼此的死点位置，从而可形成连续传动。
其中，一组转动件51中的第一转动件511或第二转动件512转动时，带动与其相连接的曲轴52转动，进而该一组转动件51中的第一转动件511和第二转动件512在该曲轴52的带动下均转动，且两个曲轴52之间通过两个第一连杆53交错传动，以相互带动，并可顺利通过彼此的死点位置，进而驱动另一组 转动件51转动，即另一组转动件51中的第一转动件511和第二转动件512均转动。
本实施例中，副传动臂30与传动机构50中一第一转动件511同轴固定；副驱动机构20与传动机构50中另一第一转动件511同轴固定，以驱动副传动臂30转动。
可选地，副传动臂30一组转动件51中第一转动件511和第二转动件512中的任一者同轴固定，副驱动机构20可与另一组转动件51中第一转动件511和第二转动件512中的任一者同轴固定。
副驱动机构20驱动该另一第一转动件511转动，第一转动件511带动偏心设置的曲轴52，并通过第一连杆53传动至另一曲轴52，最后驱动另一组转动件51中的第一转动件511转动，以带动副传动臂30绕该第一转动件51的轴线转动，其中第二转动件512用于提供对曲轴52的支撑作用，并可解除对曲轴52转动约束。
本实施例中，第一轴体521的轴线和第二轴体522的轴线相平行，进而两个第一连杆53可处于不同的转动平面且相平行设置，两个第一连杆53的转动效率也相对较高。
可选地，第一轴体521的轴线和第二轴体522的轴线相交，则其中至少一个第一连杆53为多连杆结构，即多个连杆依次相连接组成该第一连杆53，以利用多连杆结构传递异型结构的第一轴体521或第二轴体522的动力。
参阅图7，图7是图4所示传动机构中一组转动件和曲轴的俯视结构示意图。
进一步地，以第一转动件511的轴线为基准线，第一轴体521的轴线相对第二轴体522的轴线偏移的角度大于0°且小于180°。
如图7所示，本实施例中，第一转动件511为转动件，以该转动件的轴线为基准线，第一轴体521的轴线和第二轴体522的轴线相平行，第一轴体521的轴线相对第二轴体522的轴线偏移的角度，即连线L1和连线L2的夹角，其大于0°且小于180°；其中连线L1连接且垂直第一转动件511的轴线和第一 轴体521的轴线，连线L2连接且垂直第一转动件511的轴线和第二轴体522的轴线。通过限定连线L1和连线L2的夹角大于0°且小于180°，以避免两个第一连杆53的死点位置相重合，使得传动机构50能够连续传动。
如图6所示，曲轴52中，连接臂520呈杆状，第一轴体521和第二轴体522设置于连接臂520的两端，第一轴体521的轴线和第二轴体522的轴线相平行。
参阅图8和图9，图8是图4所示传动机构中曲轴和第一连杆、第二连杆的装配结构示意图，图9是图8中所示曲轴的结构示意图。
该曲轴52还包括至少一个第三轴体523，连接臂520包括至少两个子臂524，相邻的两个子臂524通过第三轴体523固定连接；传动机构50还包括第二连杆54，第二连杆54的数量与第三轴体523的数量相同，第二连杆54的两端转动连接于两组曲轴52中相应的两个第三轴体523上。
其中，第三轴体523的数量可以为一个、两个或三个等多个，则对应的子臂524的数量为两个、三个或四个等，两个子臂524之间均通过一第三轴体523固定连接，第三轴体523的至少一端与一子臂524可拆卸连接，以便于安装第二连杆54于第三轴体523上。
第一轴体521设置于最接近第一转动件511的子臂524上，且连接第一转动件511；第二轴体522设置于最接近第二转动件512的子臂524上，且连接第二转动件512。
第一轴体521和第二轴体522的轴向均与第三轴体523的轴线相平行；若曲轴52包括至少两个第三轴体523，则相邻的两个第三轴体523的轴线也彼此相平行。
以第一转动件511的轴线为基准线，第一轴体521的轴线和第二轴体522的轴线均相对相邻的第三轴体523的轴线偏移的角度大于0°且小于180°，以避免第一连杆53和第二连杆54的死点位置相重合，可使得第一连杆53和第二连杆54彼此相带动，以持续传动。
进一步地，若曲轴52包括至少两个第三轴体523，则以第一转动件511的 轴线为基准线，相邻的两个第三轴体523的轴线之间偏移的角度大于0°且小于180°，以避免多个第二连杆54的死点位置相重合。
相邻的两个子臂524错位设置，以优化第一连杆53和第二连杆54的传递效率。
相邻的两个子臂524的长度可以相等，也可以不等。本实施例中，相邻的两个子臂524的长度相等，第一轴体521、第二轴体522和第三轴体523均设置于子臂524的端部，其中相邻的第一轴体521、第二轴体522和第三轴体523的轴线之间的连线构成正多边形，该连线连接且垂直相邻的两个轴体的轴线，从而可优化传动机构50的传动效率，使得各连杆的传递效率更均衡，传动更平稳。
本实施例中，第三轴体523的轴线与第一轴体521的轴线相平行，则进一步有第一连杆53和第二连杆54的长度相等，从而可使得传动机构50能够连续传动。
第一连杆53和第二连杆54的转动连接方式可以相同，也可以不同，本申请对此不作具体限定。
本实施例中，第一连杆53的两端转动连接于两个第一轴体521或两个第二轴体522的连接方式，与第二连杆54的两端转动连接于两个第三轴体523的连接方式相同，均通过轴承转动连接，以减少阻力损耗，提高传动效率和传动精度。
如图3所示，具体地，传动机构50还包括第一轴承551和第二轴承552，第一轴承551设置于第一轴体521和相应的一第一连杆53之间，第二轴承552设置于第二轴体522和相应的另一第一连杆53之间，且在第一轴承551和第二轴承552的两段还设有垫圈，以对其轴向固定，避免其在轴向窜动。
第一转动件511上设有第一定位部(未图示)，第一定位部相对第一转动件511偏心设置，第一轴体521背离连接臂520的一端与第一定位部对位连接；第二转动件512上设有第二定位部513，第二定位部513相对第二转动件512偏心设置，第二轴体522背离连接臂520的一端与第二定位部513对位连接。
该第一定位部和第二定位部513可以是定位槽或定位凸起，以便于对应的第一轴体521或第二轴体522对位连接，可提高组装效率。
本实施例中，第一定位部和第二定位部513均为定位槽，第一轴体521和第二轴体522均包括呈阶梯设置的第一轴段525和第二轴段526，第一轴段525的轴径大于第二轴段526的轴径，第一轴承551或第二轴承552套设于第一轴段525，第二轴段526插设于该定位槽内，且第一轴段525和第二轴段526之间的台阶面止挡于定位槽的端面，可消除施加于第一轴承551和第二轴承552上轴向力。
结合参阅图3和图6，第一轴体521和第二轴体522上均设有第一连接孔527和第一定位孔528，多个第一定位孔528围绕第一连接孔527设置；定位槽的底壁上设有第二连接孔515和第二定位孔516，多个第二定位孔516围绕第二连接孔515设置；第一定位孔528和第二定位孔516通过定位件连接，以保证曲轴52和第一转动件511和第二转动件512之间的同轴度，有利于提高传动精度和传动效率；第一连接孔527和第二连接孔515通过紧固件连接。
其中定位件可以是销钉或插销件等，紧固件可以是螺钉或螺柱等，第一连接孔为光孔，第二连接孔为螺纹孔，光孔的孔径大于螺纹孔的孔径，可消除孔的加工误差，使得更便于安装。具体地，先通过定位件连接第一定位孔528和第二定位孔516，以定位对准第一轴体521或第二轴体522与定位槽的位置，再通过紧固件紧固。
本实施例中，第一轴体521和第二轴体522还设有减重槽529，连接臂520上设有与减重槽529对应的避让孔，第一连接孔527和第一定位孔528设置于减重槽529的底壁，可使得曲轴52更加轻盈，利于被驱动，并有利于减少能量损耗。
第一连杆53和/或第二连杆54上设有减重孔，以减轻第一连杆53和/或第二连杆54的重量，提高其传递效率，并有利于减少能量损耗。
区别于现有技术的情况，本申请公开了一种机器人及其传动机构。通过设 置两组转动件，每组转动件包括共轴线设置的第一转动件和第二转动件，第一转动件还用于连接外部结构件，以实现动力传输，第一转动件和第二转动件之间设置偏心设置的曲轴，两个第一连杆转动连接于两个曲轴上，且两个第一连杆处于不同的转动平面内，彼此互不干涉，并能够通过相互带动，以顺利通过彼此的死点位置，从而可形成连续传动，即可通过曲轴和第一连杆实现两组转动件之间的动力传输，且双连杆传动结构还可进一步提升传动精度，及其可传递的力矩更大，整体刚度更高，并且本申请所提供的传动机构结构简单，加工、安装容易，成本低。
以上所述仅为本申请的实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (15)

  1. 一种传动机构，其特征在于，所述传动机构包括：
    两组转动件，每组转动件均包括共轴线设置的第一转动件和第二转动件；
    两个曲轴，均包括连接臂和设置于所述连接臂两对侧的第一轴体、第二轴体，所述第一轴体的轴线和所述第二轴体的轴线不共线；所述第一轴体与所述第一转动件连接且相对所述第一转动件偏心设置，所述第二轴体与所述第二转动件连接且相对所述第二转动件偏心设置；
    两个第一连杆，其中一所述第一连杆的两端转动连接两个所述第一轴体，另一所述第一连杆的两端转动连接两个所述第二轴体；
    其中，一组所述转动件中的所述第一转动件或所述第二转动件转动时，带动与其相连接的所述曲轴转动，所述两个曲轴之间通过两个所述第一连杆交错传动，进而驱动另一组所述转动件转动。
  2. 根据权利要求1所述的传动机构，其特征在于，所述第一轴体的轴线和所述第二轴体的轴线相平行。
  3. 根据权利要求2所述的传动机构，其特征在于，以所述第一转动件的轴线为基准线，所述第一轴体的轴线相对所述第二轴体的轴线偏移的角度大于0°且小于180°。
  4. 根据权利要求3所述的传动机构，其特征在于，所述连接臂呈杆状，所述第一轴体和所述第二轴体设置于所述连接臂的两端。
  5. 根据权利要求3所述的传动机构，其特征在于，所述曲轴还包括至少一个第三轴体，所述第三轴体的轴线与所述第一轴体的轴线相平行，所述连接臂包括至少两个子臂，相邻的两个所述子臂通过所述第三轴体固定连接；
    所述传动机构还包括第二连杆，所述第二连杆的数量与所述第三轴体的数量相同，所述第二连杆的两端转动连接于所述两个曲轴中相应的两个所述第三轴体上。
  6. 根据权利要求5所述的传动机构，其特征在于，以所述第一转动件的轴线为基准线，所述第一轴体的轴线和所述第二轴体的轴线均相对相邻的所述第三轴体的轴线偏移的角度大于0°且小于180°。
  7. 根据权利要求5所述的传动机构，其特征在于，以所述第一转动件的轴线为基准线，相邻的两个所述第三轴体的轴线之间偏移的角度大于0°且小于180°。
  8. 根据权利要求5所述的传动机构，其特征在于，相邻的两个所述子臂错位设置。
  9. 根据权利要求5所述的传动机构，其特征在于，所述第一连杆和所述第二连杆的长度相等。
  10. 根据权利要求1所述的传动机构，其特征在于，所述传动机构还包括第一轴承和第二轴承，所述第一轴承设置于所述第一轴体和相应的一所述第一连杆之间，所述第二轴承设置于所述第二轴体和相应的另一所述第一连杆之间。
  11. 根据权利要求10所述的传动机构，其特征在于，所述第一转动件上设有第一定位部，所述第一定位部相对所述第一转动件偏心设置，所述第一轴体背离所述连接臂的一端与所述第一定位部对位连接；所述第二转动件上设有第二定位部，所述第二定位部相对所述第二转动件偏心设置，所述第二轴体背离所述连接臂的一端与所述第二定位部对位连接。
  12. 根据权利要求11所述的传动机构，其特征在于，所述第一定位部和所述第二定位部均为定位槽，所述第一轴体和所述第二轴体均包括呈阶梯设置的第一轴段和第二轴段，所述第一轴段的轴径大于所述第二轴段的轴径，所述第一轴承或所述第二轴承套设于所述第一轴段，所述第二轴段插设于所述定位槽内，且所述第一轴段和所述第二轴段之间的台阶面止挡于所述定位槽的端面。
  13. 根据权利要求12所述的传动机构，其特征在于，所述第一轴体和所述第二轴体上均设有第一连接孔和第一定位孔，多个所述第一定位孔围绕所述第一连接孔设置；
    所述定位槽的底壁上设有第二连接孔和第二定位孔，多个所述第二定位孔围绕所述第二连接孔设置；
    所述第一定位孔和所述第二定位孔通过定位件连接，所述第一连接孔和所述第二连接孔通过紧固件连接。
  14. 根据权利要求13所述的传动机构，其特征在于，所述第一轴体和所述第二轴体还设有减重槽，所述连接臂上设有与所述减重槽对应的避让孔，所述第一连接孔和所述第一定位孔设置于所述减重槽的底壁。
  15. 一种机器人，其特征在于，所述机器人包括：
    主传动臂；
    传动机构，设置于所述主传动臂内，如权利要求1-14中任一项所述；
    副传动臂，转动设置于所述主传动臂的一端，且与所述传动机构中一所述第一转动件同轴固定；
    副驱动机构，与所述传动机构中另一所述第一转动件同轴固定，以驱动所述副传动臂转动；
    主驱动机构，所述主驱动机构与所述主传动臂连接，用于驱动所述主传动臂转动；其中，所述主驱动机构和所述副驱动机构均设置于所述主传动臂远离所述副传动臂的一端，且分别位于所述主传动臂的两对侧。
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CN1623743A (zh) * 2003-12-02 2005-06-08 株式会社三协精机制作所 驱动连接机构及具有该驱动连接机构的真空机械手
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