CN110524572A - Joint transmission means and robot - Google Patents

Abstract

It includes: actuator that the present invention, which discloses a kind of joint transmission means and robot, the joint transmission means, and the actuator includes the first output revolving shaft；Harmonic wave speed reducing machine, the harmonic wave speed reducing machine include input shaft and the second output revolving shaft；Driving member, the driving member bypass first output revolving shaft and the input shaft, so that the actuator drives the harmonic wave speed reducing machine；Joint assembly, second output revolving shaft are connect with the joint assembly, and the joint assembly is driven to move.Technical solution of the present invention is intended to reduce ectoskeleton total quality, and installation space is compact, and realizes reasonable transmission ratio configuration, meets high revolving speed, large torque, high-precision output requirement, is easy to use.

Description

Joint transmissions and robots

technical field

The invention relates to the technical field of legged robots and exoskeleton robots, in particular to a joint transmission device.

Background technique

With the development of science and technology, legged robots are widely used in industry and service industries; robots are widely used in military and industrial load-bearing assistance, as well as medical and rehabilitation occasions for helping the elderly and the disabled. Existing legged robots or wearable exoskeleton robots have high requirements on the output of each active joint, and need to meet the high-speed, high-efficiency use effect and support the wearer's own weight, thereby assisting the wearer to complete normal assistance. or recovery activities. At the same time, in order to achieve good assisting and following effects, exoskeleton robots often use force sensors for force control or impedance control in the control of each joint.

In order to meet high-speed and high-torque output, motors are often used to cooperate with gears, pulleys and other reduction mechanisms with large volume and mass, or hydraulic drives are used to cooperate with hydraulic pump stations, and the overall mass is larger. In limited space or quality constraints Under such circumstances, it is difficult to meet the configuration of a reasonable transmission ratio, and cannot meet the requirements of output and speed at the same time, which is not conducive to use, resulting in inconvenient wearing and inflexible movement.

Contents of the invention

The main purpose of the present invention is to provide a joint transmission device, which aims to reduce the overall mass of the exoskeleton, has a compact installation space, realizes a reasonable transmission ratio configuration, meets the output requirements of high speed and high torque, and is convenient to use.

In order to achieve the above object, the joint transmission device provided by the present invention includes:

a drive member comprising a first output shaft;

a harmonic reducer comprising an input shaft and a second output shaft;

a transmission member, the transmission member bypasses the first output shaft and the input shaft, so that the drive member drives the harmonic reducer;

A joint assembly, the second output shaft is connected to the joint assembly and drives the joint assembly to move.

Optionally, the transmission member is a synchronous belt, and the synchronous belt winds around the first output shaft and the input shaft.

Optionally, the first output shaft is also sleeved with a first pulley, the input shaft is also sleeved with a second pulley, and the synchronous belt bypasses the first pulley and the second belt wheel.

Optionally, the transmission member is a chain, the first output shaft is also sleeved with a first toothed disc, the second input shaft is also sleeved with a second toothed disc, and the chain bypasses the first toothed disc and the second toothed disc.

Optionally, the joint transmission device further includes a mounting plate, and both the driving member and the harmonic reducer are fixedly connected to the mounting plate;

And/or, the mounting plate is also provided with lightening holes.

Optionally, the mounting plate includes a first mounting hole and a second mounting hole adjacently arranged, and the driving member further includes a driving body connected to the first output shaft, and the driving body is connected to the mounting plate fixedly connected, the first output shaft extends out of the first mounting hole;

The harmonic reducer also includes a reducer body connected to the input shaft, the reducer body and the driving member are located on the same side of the mounting plate, and the reducer body is fixedly connected to the mounting plate , the input shaft extends out of the second mounting hole;

The first output shaft and the input shaft are located on the same side of the mounting plate.

Optionally, the rotational speed of the first output shaft is 10rpm-10000rpm.

Optionally, the rotational speed of the first output shaft is 10rpm-5000rpm;

And/or, the joint transmission device further includes a heat dissipation component, and the heat dissipation component is attached to a surface of the reducer body;

And/or, the joint transmission device further includes a power supply component, and the power supply component is electrically connected to the driving member;

And/or, the driving part is a motor.

Optionally, the joint assembly includes:

a first runner, the first runner is socketed and fixed on the second output shaft, and the second output shaft drives the first runner to rotate;

a first gear, the first gear is socketed and fixed on the second output shaft, and the second output shaft drives the first gear to rotate;

Secondary linkage components, the secondary linkage components include:

second wheel;

A traction assembly is connected between the first runner and the second runner. When the first runner rotates, the first runner drives the traction assembly to move, and the traction assembly drives the second The two wheels rotate, and the rotation direction of the second wheel is opposite to that of the first wheel;

The second gear is arranged coaxially with the second wheel, and the first gear and the second gear mesh with each other.

The present invention also proposes a robot, including a joint transmission device, and the joint transmission device includes:

a drive member comprising a first output shaft;

a harmonic reducer comprising an input shaft and a second output shaft;

a transmission member, the transmission member bypasses the first output shaft and the input shaft, so that the drive member drives the harmonic reducer;

A joint assembly, the second output shaft is connected to the joint assembly and drives the joint assembly to move.

The technical solution of the present invention sets the drive part and the harmonic reducer, and makes the drive part bypass the first output shaft and the input shaft of the drive part, so that the drive part drives the harmonic reducer to move, and the harmonic reducer The second output shaft is connected with the joint assembly, so that the second output shaft drives the joint assembly to move. Because the harmonic reducer has the characteristics of large transmission speed ratio, high load capacity, high transmission precision, high transmission efficiency, stable movement, small size and light weight, and by setting the transmission parts that bypass the first output shaft and input shaft, The driving part and the harmonic reducer have a larger output torque, and the overall size of the joint transmission device is reduced. In this way, the technical solution of the present invention can reduce the overall mass of the exoskeleton, compact the installation space, realize a reasonable transmission ratio configuration, meet the output requirements of high speed and high torque, and be convenient to use.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is a schematic structural view of an embodiment of the joint transmission device of the present invention;

Fig. 2 is a schematic cross-sectional structure diagram of an embodiment of the joint transmission device of the present invention;

Fig. 3 is a schematic structural view of an embodiment of the joint assembly of the joint transmission device of the present invention.

Explanation of reference numbers:

label name label name 100 joint drive 36 hinged link 10 Driver 40 Transmission Parts 11 first output shaft 50 mounting plate 111 first pulley 51 Lightening hole 12 Driver body 60 drive rod 20 Harmonic reducer 71 first gear twenty one input shaft 72 second gear 211 second pulley 73 first wheel twenty two second output shaft 74 second wheel twenty three Reducer body 75 traction components 30 joint components 751 4th drive line 32 Secondary connecting rod 752 Fixed Block Components 321 guide wheel 7521 third fixed block 33 joint wire wheel 7522 Fourth fixed block 34 first adapter shaft 80 connector 35 Second adapter shaft

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In addition, the descriptions involving "first", "second" and so on in the present invention are only for descriptive purposes, and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

The present invention proposes a joint transmission device 100 .

Referring to Fig. 1 to Fig. 3, the joint transmission device 100 proposed by the technical solution of the present invention includes:

A driving member 10, the driving member 10 includes a first output shaft 11;

A harmonic reducer 20, the harmonic reducer 20 includes an input shaft 21 and a second output shaft 22;

A transmission member 40, the transmission member 40 bypasses the first output shaft 11 and the input shaft 21, so that the drive member 10 drives the harmonic reducer 20;

The joint assembly 30 , the second output shaft 22 is connected with the joint assembly 30 and drives the joint assembly 30 to move.

The technical solution of the present invention sets the drive member 10 and the harmonic reducer 20, and makes the transmission member 40 bypass the first output shaft 11 and the input shaft 21 of the drive member 10, so that the drive member 10 drives the harmonic reducer 20 to move , and connect the second output shaft 22 of the harmonic reducer 20 to the joint assembly 30, so that the second output shaft 22 drives the joint assembly 30 to move. Since the harmonic reducer 20 has the characteristics of large transmission speed ratio, high load capacity, high transmission precision, high transmission efficiency, stable movement, small size and light weight, and by setting the first output shaft 11 and the input shaft 21 The transmission part 40 enables the driving part 10 and the harmonic speed reducer 20 to have a larger output torque, and reduces the overall size of the joint transmission device 100 . In this way, the technical solution of the present invention can reduce the overall mass of the exoskeleton, compact the installation space, realize a reasonable transmission ratio configuration, meet the output requirements of high speed and high torque, and be convenient to use.

In an embodiment of the present application, the driving part 10 can be a motor, specifically, it can be a servo motor or a driving motor, as long as it can drive the harmonic reducer 20 well and make the harmonic reducer 20 drive the joint assembly 30 Just exercise. And, the second output shaft 22 can be connected to a transmission rod 60 so as to transmit the power of the harmonic speed reducer 20 through the transmission rod 60 .

Preferably, the distance between the driving member 10 and the harmonic reducer 20 is 80mm-600mm. The distance between the driver 10 and the harmonic reducer 20 specifically refers to the horizontal distance between the surfaces of the driver 10 and the harmonic reducer 20 facing each other. If the distance between the driver 10 and the harmonic reducer 20 is designed too small, it will easily cause heat concentration, and the motor and the harmonic reducer 20 are devices that are prone to heat, which is not conducive to use; and if the driver 10 and the harmonic If the distance between the reducer 20 is too large, the joint transmission device 100 will be bulky, which is not conducive to use. Here, setting the distance between the driver 10 and the harmonic reducer 20 at 80mm-600mm is not only beneficial to prevent the heat concentration of the driver 10 and the harmonic reducer 20, but also can control the volume of the joint transmission device 100 at a reasonable level. Within the scope, its comprehensiveness is better. Of course, the specific installation distance can be set according to the actual situation. The distance between the drive member 10 and the harmonic reducer 20 can also be 100mm, 120mm, 150mm, 180mm, 200mm, 300mm, 360mm, 400mm, 450mm, 500mm, 550mm etc.

Referring to FIG. 1 and FIG. 2 , in an embodiment of the present application, the transmission member 40 is a synchronous belt, and the synchronous belt bypasses the first output shaft 11 and the input shaft 21 . In this embodiment, the transmission is carried out through the first-stage synchronous belt. Because the synchronous belt is rich in elasticity, it can ease the impact and vibration, so the operation is stable, the noise is low during operation, and the structure of the belt transmission is simple, the manufacturing cost is low, and the installation and maintenance convenient.

In this embodiment, it is also possible to arrange a squeeze wheel on the outside of the belt (the side away from the first output shaft 11 and the input shaft 21), and the squeeze wheel abuts against the position between the first output shaft 11 and the input shaft 21. The synchronous belt in between increases the tension between the synchronous belt and the first output shaft 11 and the input shaft 21, prevents the synchronous belt from slipping, and further improves the reliability of the joint transmission device 100.

Further, the first output shaft 11 is also sleeved with a first pulley 111, and the input shaft 21 is also sleeved with a second pulley 211, and the timing belt bypasses the first pulley 111 and the first pulley 111. Describe the second pulley 211. By arranging the first pulley 111 and the second pulley 211, the power transmission of the synchronous belt is more stable, and the installation, disassembly and replacement of the synchronous belt are facilitated, which is convenient for users.

In an embodiment of the present application, the transmission member 40 is a chain, the first output shaft 11 is also sleeved with a first toothed disc, and the input shaft 21 is also sleeved with a second toothed disc. The chain Bypassing the first chainring and the second chainring. Chain transmission has the advantages of no elastic sliding and slipping, accurate average transmission ratio, reliable operation, high efficiency, large transmission power, strong overload capacity, small transmission size under the same working conditions, and small tension required, so that joint transmission The device 100 works well.

In an embodiment of the present application, the joint transmission device 100 further includes a mounting plate 50, and the driving member 10 and the harmonic reducer 20 are both fixedly connected to the mounting plate 50;

And/or, the mounting plate 50 is further provided with a lightening hole 51 .

The mounting plate 50 is used for fixing and installing the driving member 10 and the harmonic reducer 20 , and in this embodiment, the thickness of the mounting plate 50 is 1mm-20mm. If the thickness of the mounting plate 50 is designed too thin, it will easily lead to deformation and damage of the joint transmission device 100 during use; if the thickness of the mounting plate 50 is set too large, the volume of the mounting plate 50 will be larger , greater weight, higher material costs. Here, setting the wall thickness of the mounting plate 50 at 1mm-20mm is not only beneficial to ensure the strength of the mounting plate 50, but also can control the shape, weight, and material cost of the mounting plate 50 within a reasonable range, and its comprehensiveness is better . Certainly, its specific thickness can be set according to the manufacturing material of the mounting plate 50, and its material can be steel, plastic or aluminum, etc., and its thickness can be 3mm, 5mm, 7mm, 8mm, 10mm, 11mm, 13mm, 15mm, 18mm , 19mm, etc.

Preferably, the thickness of the mounting plate 50 is 3mm-8mm, setting the wall thickness of the mounting plate 50 at 3mm-8mm is very beneficial to ensure the strength of the mounting plate 50, and can control the shape, weight and material cost of the mounting plate 50. Within a reasonable range, its comprehensiveness is the best.

And in this embodiment, on the premise of not affecting the strength of the mounting plate 50 , the weight-reducing hole 51 is provided on the mounting plate 50 , thereby reducing the mass of the mounting plate 50 and further reducing the mass of the joint transmission device 100 .

In an embodiment of the present application, the mounting plate 50 includes a first mounting hole and a second mounting hole disposed adjacently, and the driving member 10 further includes a driving body 12 connected to the first output shaft 11 , The drive body 12 is fixedly connected to the mounting plate 50, and the first output shaft 11 extends out of the first mounting hole; in this embodiment, a plurality of first mounting holes surrounding the first mounting hole are provided on the mounting plate 50 A connecting hole, the joint transmission device 100 also includes a plurality of connecting parts 80, the drive body 12 is also provided with a plurality of second connecting holes, a connecting part 80 passes through a first connecting hole and a second connecting hole, and the driving body 12 and the mounting plate 50 are fixedly connected, of course, a clamping piece can also be provided on the mounting plate 50, and a draw-in slot can be set at the drive body 12, and the drive body 12 and the mounting plate 50 can be fixed by the clamping piece engaging in the draw-in slot, or The drive body 12 is directly welded and fixed to the mounting plate 50 , as long as the two can be well connected.

2, the harmonic reducer 20 further includes a reducer body 23 connected to the input shaft 21, the reducer body 23 and the drive member 10 are located on the same side of the mounting plate 50, the The reducer body 23 is fixedly connected to the mounting plate 50, and the input shaft 21 extends out of the second mounting hole;

The first output shaft 11 and the input shaft 21 are located on the same side of the mounting plate 50 .

It can be understood that the driving body 12 is the stator of the motor, the first output shaft 11 is connected with the rotor of the motor, and the installation method of protruding the first output shaft 11 out of the first installation hole can better save the installation of the power transmission device Space, easy to use; the reducer body 23 is the stator of the harmonic reducer 20, the input shaft 21 is connected with the rotor of the harmonic reducer 20, and the installation method of extending the input shaft 21 out of the second mounting hole can further save The installation space of the power transmission device is convenient to use. The distance between the first installation hole and the second installation hole can be set according to the installation distance of the motor and the harmonic reducer 20 , as long as it is convenient to use.

Further, the rotation speed of the first output shaft 11 is 10rpm-10000rpm. Setting the rotational speed of the first output rotating shaft 11 at 10rpm-10000rpm can meet the needs of most motors to drive the joint assembly 30 to rotate, which is beneficial to ensure the applicable range of the power transmission structure. The rotation speed of the first output shaft 11 can be 100rpm, 500rpm, 1000rpm, 1500rpm, 20000rpm, 3000rpm, 4000rpm, 7000rpm, 8000rpm, 9000rpm and so on.

Optionally, the rotational speed of the first output rotating shaft 11 is 10rpm-5000rpm; here, setting the rotational speed of the first output rotating shaft 11 at 10rpm-5000rpm can satisfy the requirement that the motor rotates to drive the joint assembly 30 to rotate, and can be easily The power output of the power transmission mechanism during use is well realized, and the utility model has strong practicability.

And/or, the joint transmission device 100 also includes a heat dissipation component (not shown), and the heat dissipation component is attached to a surface of the reducer body 23; The contact area between the heat conduction plate and the reducer body 23 increases the heat dissipation efficiency of the heat dissipation assembly. Specifically, the heat conduction plate can be an aluminum plate or a copper plate. Aluminum and copper have good thermal conductivity and fast heat transfer rate, which is beneficial to the heat exchange between the harmonic reducer 20 body and the external environment, thereby speeding up the heat cycle process of the harmonic reducer 20 body. .

Of course, the heat dissipation assembly may also include a heat dissipation plate and at least one vacuum heat dissipation pipe, the heat dissipation plate is fixedly connected to the harmonic reducer 20 body, the vacuum heat dissipation pipe is fixedly connected to the heat dissipation plate, and the vacuum heat dissipation A capillary and a heat-conducting liquid are arranged inside the tube. By arranging a heat dissipation plate and a vacuum heat dissipation pipe on the body of the harmonic reducer 20, since the inside of the vacuum heat dissipation pipe is vacuum, the vacuum environment can reduce the boiling point of the heat transfer liquid. When the vacuum heat dissipation pipe is heated, the heat transfer liquid can evaporate when heated, and the temperature of the vacuum heat dissipation pipe decreases due to evaporation and heat absorption, thereby reducing the temperature of the heat dissipation plate attached to the vacuum heat dissipation pipe; the evaporated gaseous heat transfer liquid flows along the capillary, and Due to the low temperature of the external environment, the gaseous heat transfer liquid will liquefy when it is cold, and the liquefied heat transfer liquid will fall back to the original position under the action of gravity and capillary force, and the heat can be taken away by the continuous circulation of the heat transfer liquid.

And/or, the joint transmission device 100 also includes a power supply assembly, which is electrically connected to the drive member 10; the power supply assembly is a power supply with a power supply function, which can be a mobile power supply, as long as it can be well It is enough to drive the driver 10 to work.

Referring to the figure, in an embodiment of the present application, the joint assembly 30 includes:

The first rotating wheel 73, the first rotating wheel 73 is socketed and fixed on the second output rotating shaft 22, and the second output rotating shaft 22 drives the first rotating wheel 73 to rotate;

A first gear 71, the first gear 71 is socketed and fixed on the second output shaft 22, and the second output shaft 22 drives the first gear 71 to rotate;

Secondary linkage components, the secondary linkage components include:

second runner 74;

A traction assembly 75 is connected between the first runner 73 and the second runner 74. When the first runner 73 rotates, the first runner 73 drives the traction assembly 75 to move. The traction assembly 75 drives the second rotating wheel 74 to rotate, and the rotating direction of the second rotating wheel 74 is opposite to the rotating direction of the first rotating wheel 73;

The second gear 72 is arranged coaxially with the second rotating wheel 74 , and the first gear 71 and the second gear 72 mesh with each other.

In this embodiment, since the rotation angle of the two-stage linkage assembly relative to the first rotating wheel 73 and the first gear 71 is limited, the first gear 71 and the second gear 72 can adopt a complete gear structure or an incomplete gear structure. gear structure. When the first gear 71 and the second gear 72 adopt an incomplete gear structure, the weight of the gears can be reduced, thereby reducing the weight of the joint assembly 30 , reducing the user's load, reducing the amount of raw materials used, and reducing the cost of the joint assembly 30 . The tooth shape adopted in the structure of the first gear 71 and the second gear 72 can be a straight tooth shape or a helical tooth shape.

Or, by setting the first-level connecting rod, the first-level connecting rod is provided with the first adapter shaft 34 holes; at this time, the transmission rod 60 is fixedly connected with the first-level connecting rod, thereby driving the first-level connecting rod through the transmission rod 60 .

A secondary connecting rod 32, the secondary connecting rod 32 is arranged opposite to the primary connecting rod, and one end of the secondary connecting rod 32 adjacent to the primary connecting rod is provided with a second adapter shaft 35 hole;

The first transfer shaft 34, the first transfer shaft 34 is inserted into the hole of the first transfer shaft 34, and inserted into the joint wire wheel 33; at this time, the first transfer shaft 22 is used to drive the first The adapter shaft 34 rotates.

The second transfer shaft 35 is inserted into the hole of the second transfer shaft 35 . The second rotating wheel 74 and the second gear 72 are sleeved on the second connecting shaft 35 to realize power transmission. Such setting is convenient for transmission.

And the first gear 71 and the first-level connecting rod can be set as an integral structure, and the second gear 72 and the second-level connecting rod 32 can be set as an integral structure, so as to shorten the overall width of the joint assembly 30, and also reduce the assembled parts, so as to facilitate the joint Carrying and Assembly of Assembly 30 .

When the primary connecting rod is fixed and the secondary connecting rod 32 is rotated by external force, the secondary connecting rod 32 can drive the second runner 74 and the second adapter shaft 35 to rotate, because the second runner 74 and the first runner 73 Connected by the traction assembly 75, and the traction assembly 75 makes the turning of the second runner 74 and the first runner 73 opposite. Since the first runner 73 is fixedly connected with the primary connecting rod, the second runner 74 and the secondary connecting rod 32 is fixedly connected, and the first runner 73 is rotationally connected with the first transfer shaft 34, and the second runner 74 is fixedly connected with the second transfer shaft 35. Therefore, the secondary connecting rod 32 drives the hinged connecting rod 36 around the first The adapter shaft 34 rotates, that is, the second runner 74 rotates around the first runner 73 while rotating on its own, and the second runner 74 drives the secondary connecting rod 32 to form a variable axis rotation, thereby realizing anthropomorphic joint rotation, thereby improving Simulation properties of joint assembly 30 . The steering of the above-mentioned first runner 73 is the rotation direction of the first runner 73 around the first transfer shaft 34, and the steering of the second runner 74 is that the second runner 74 drives the second transfer shaft 35 to rotate around the second transfer shaft 34. The direction in which the axis of the shaft 35 rotates.

At the same time, the way of gears and wire wheels is adopted, so that the joint assembly 30 can fit the joints of the human body to rotate better, which is convenient for users to use.

Further, the joint assembly 30 also includes a hinged link 36, and the hinged link 36 is provided with a third shaft hole and a fourth shaft hole arranged at intervals along its length direction;

The first adapter shaft 34 extends out of the rotating assembly 70 to form a first extension end, and the first extension end is rotatably connected to the third shaft hole;

The second adapter shaft 35 protrudes from the rotation assembly 70 to form a second extension end, and the second extension end is rotatably connected to the fourth shaft hole.

Setting the articulated link 36 makes the power transmission of the primary link 31 and the secondary link 32 better. It can be understood that two hinged connecting rods 36 are respectively provided at both ends of the joint assembly 30 to avoid lateral displacement of the joint assembly 30 during movement and improve the characteristics of the joint assembly 30 simulating biological actions. If it is used for sports rehabilitation of the human body, it can prevent the human body from being injured by lateral displacement.

Further, the first transmission line 751 includes a fifth end (not shown) and a sixth end (not shown);

The fixed block assembly 752 includes a first fixed block (not shown), a second fixed block (not shown), a first fixed block 7521 and a second fixed block 7522, the first fixed block and the second fixed block The fixed blocks are arranged at intervals on the side wall of the first runner 73;

The first fixing block 7521 and the second fixing block 7522 are spaced apart from the side wall of the second runner 74;

Alternatively, the first fixing block 7521 and the second fixing block 7522 are spaced apart from the secondary connecting rod 32 .

It can be understood that both the first rotating wheel 73 and the second rotating wheel 74 include a winding groove (not shown), so as to facilitate the first transmission wire 751 to go around, and the winding groove 331 surrounds the first rotating wheel 73 or the second rotating wheel 73 . The side of two runners 74 is provided with.

In an embodiment of the present application, the fixing block 332 is provided with a fixing hole passing through the first transmission line 751 along the length direction, and the side wall of the fixing block 332 is provided with a fixing portion for fixing the first transmission line 751 . For example, the first end of a first transmission line 751 passes through the fixing hole of the first fixing block, the second end passes through the fixing hole of the second fixing block 7522, and the fixing parts respectively fix the first end and the second end. In order to prevent the fasteners from falling off and causing the end of the first transmission line 751 to fall off without pre-tightening, both the first end and the second end of the first transmission line 751 are tied, or the end of the first transmission line 751 is provided with a There is a sleeve (not shown in the figure), and then knotted. The sleeve is provided with two through holes arranged side by side. The end of the first transmission line 751 passes through the two through holes in turn, and then the sleeve is pressed to deform the sleeve. Clamp the first transmission line 751, and the material of the sleeve can be aluminum or iron. The fixing part is a set screw arranged on the fixing block 332 for fixing the position of the first transmission line 751 in the fixing hole.

In another embodiment of the present application, the first fixing block 7521 and the second fixing block 7522 are arranged on the secondary connecting rod 32 , so that the bonding distance of the first transmission line 751 on the second rotating wheel 74 can be increased Longer for easier transmission. Moreover, a guide wheel 321 can also be provided to make the arrangement of the first transmission line 751 more reasonable.

The present invention also proposes a robot, the robot includes a joint transmission device 100, and the joint transmission device 100 includes:

A driving member 10, the driving member 10 includes a first output shaft 11;

A harmonic reducer 20, the harmonic reducer 20 includes an input shaft 21 and a second output shaft 22;

A transmission member 40, the transmission member 40 bypasses the first output shaft 11 and the input shaft 21, so that the drive member 10 drives the harmonic reducer 20;

The joint assembly 30 , the second output shaft 22 is connected with the joint assembly 30 and drives the joint assembly 30 to move. Since the robot adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

The above is only a preferred embodiment of the present invention, and does not therefore limit the patent scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or direct/indirect use All other relevant technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. A joint transmission device, characterized in that, comprising: a drive member comprising a first output shaft; a harmonic reducer comprising an input shaft and a second output shaft; a transmission member, the transmission member bypasses the first output shaft and the input shaft, so that the drive member drives the harmonic reducer; A joint assembly, the second output shaft is connected to the joint assembly and drives the joint assembly to move. 2. The joint transmission device according to claim 1, wherein the transmission member is a synchronous belt, and the synchronous belt bypasses the first output shaft and the input shaft. 3. The joint transmission device according to claim 2, wherein the first output shaft is also sleeved with a first pulley, the input shaft is also sleeved with a second pulley, and the synchronous belt is wound around over the first pulley and the second pulley. 4. The joint transmission device according to claim 1, wherein the transmission member is a chain, the first output shaft is also sleeved with a first toothed disc, and the input shaft is also sleeved with a second tooth discs, the chain passes around the first chainring and the second chainring. 5. The joint transmission device according to any one of claims 1 to 4, characterized in that, the joint transmission device further comprises a mounting plate, and the driving member and the harmonic reducer are connected to the mounting plate fixed connection; And/or, the mounting plate is also provided with lightening holes. 6. The joint transmission device according to claim 5, wherein the mounting plate includes a first mounting hole and a second mounting hole adjacently arranged, and the driving member further includes a joint connected to the first output shaft. a drive body, the drive body is fixedly connected to the mounting plate, and the first output shaft extends out of the first mounting hole; The harmonic reducer also includes a reducer body connected to the input shaft, the reducer body and the driving member are located on the same side of the mounting plate, and the reducer body is fixedly connected to the mounting plate , the input shaft extends out of the second mounting hole; The first output shaft and the input shaft are located on the same side of the mounting plate. 7. The joint transmission device according to claim 6, wherein the rotational speed of the first output shaft is 10 rpm-10000 rpm. 8. The joint transmission device according to claim 7, wherein the rotational speed of the first output shaft is 10rpm-5000rpm; And/or, the joint transmission device further includes a heat dissipation component, and the heat dissipation component is attached to a surface of the reducer body; And/or, the joint transmission device further includes a power supply component, and the power supply component is electrically connected to the driving member; And/or, the driving part is a motor. 9. The joint transmission device according to any one of claims 6 to 8, wherein the joint assembly comprises: a first runner, the first runner is socketed and fixed on the second output shaft, and the second output shaft drives the first runner to rotate; a first gear, the first gear is socketed and fixed on the second output shaft, and the second output shaft drives the first gear to rotate; Secondary linkage components, the secondary linkage components include: second wheel; A traction assembly is connected between the first runner and the second runner. When the first runner rotates, the first runner drives the traction assembly to move, and the traction assembly drives the second The two wheels rotate, and the rotation direction of the second wheel is opposite to that of the first wheel; The second gear is arranged coaxially with the second wheel, and the first gear and the second gear mesh with each other. 10. A robot, characterized by comprising a joint transmission device, the joint transmission device comprising the joint transmission device according to any one of claims 1 to 9.