CN106182071B - The flexible differential driving joint module of two degrees of freedom rotation - Google Patents
The flexible differential driving joint module of two degrees of freedom rotation Download PDFInfo
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- CN106182071B CN106182071B CN201610638764.2A CN201610638764A CN106182071B CN 106182071 B CN106182071 B CN 106182071B CN 201610638764 A CN201610638764 A CN 201610638764A CN 106182071 B CN106182071 B CN 106182071B
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- bevel gear
- module
- gear group
- drive
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
A kind of flexible differential driving joint module of two degrees of freedom rotation, the flexible differential driving joint module of two degrees of freedom rotation has frame, export connecting rod and set on the difference gear train between the two, the difference gear train has the drive bevel gear group being coupled and dynamic bevel gear group, alternative one is rotatably connect with frame, another connect with output connecting rod, wherein, drive bevel gear group has the first rotary shaft, dynamic bevel gear group has the second rotary shaft, straight line where two rotary shafts intersects vertically, output connecting rod is enable to carry out the movement of all directions together with dynamic bevel gear group opposing frame.The present invention realizes that two degrees of freedom rotation, working space are a part for hemisphere or hemisphere, has the characteristics that compact-sized, is capable of providing flexibility and high-torque, can be applied to waist, shoulder and wrist of cooperation humanoid robot etc..
Description
Technical field
The present invention relates to robot field, specifically a kind of two degrees of freedom rotation flexibility differential driving joint module and difference
Gear train.The flexible differential driving joint module of two degrees of freedom rotation of the present invention is a kind of compact-sized and motion range is limited
Robot rotary articulation module has the characteristics that passive flexible, intrinsic safety and high-torque, can be applied to high-torque operation
The waist of occasion and the service robot got along amiably and peacefully with people, shoulder and wrist.
Background technology
Traditional industrial robot usually fulfils assignment in the environment of security isolation task, and servicing humanoid robot then needs
Given task is completed in human normal life's environment.Therefore, other than with the operating characteristics for completing required by task, clothes
Business humanoid robot also needs to inherent safety, it is ensured that collision partners will not all come to harm when with people or Environment Collision.
In addition, frequently with non-modular designs on existing robot architecture, inconvenience is brought to installation and maintenance, is difficult to realize machine
The commercialization and the marketization of people.
Currently, research institution to mechanisms such as the waist of robot, mechanical arms in depth grind in detail both at home and abroad
Study carefully, mainly there is domestic Harbin Institute of Technology, Chinese Academy of Sciences's Shenyang Institute of Automation etc..Currently, external apery mechanism is ground
Study carefully some universities and research institution that work is concentrated mainly on American-European Japan.
There is following deficiency for current existing robot：
1) safe compliance, current existing robot safety are all made of the safeguard measure of industrial robot, such as emergency stop
Switch, safe magnetic lock increase force snesor cooperation impedance control strategy.Although reducing danger to a certain extent,
There are still insecurity, such as：When being impacted in application process.
2) inconvenient installation and debugging and maintenance.Robot is all needed in installation and debugging, and when maintenance and repair afterwards
Circuit and robot mechanism are dismantled, the design using electromechanics separation causes the interchangeability of robot parts poor,
It is inconvenient to safeguard.
3) mode of conventional machines person joint generally use tandem drive, each degree of freedom are driven by a motor, are increased
The height for having added transmission chain makes robot center of gravity improve, increases the inertia of system, while also affecting the dynamic in joint.
4) error of serial mechanism is the accumulation of two degree-of-freedom joint errors, finally the error of mechanism will be caused to amplify.
Research can be applied to the meaning of the flexible differential driving joint module of two degrees of freedom rotation on service humanoid robot
It is：
1) the submissive safety of robot system is improved.Traditional robot generally use hinge or arthrodia connection rigidity
Component, and in contrast, movable thing therefore is added in joint of robot soft with compliance mostly in nature
Property link, on the one hand can improve the performance of system, when robot is impacted by external impact, compliant mechanism can play slow
Punching acts on, to provide safety.Another aspect flexible ring section structure simple and compact, can be by less part set
At becoming the notable advantage of flexible robot.
2) modularized design keeps robot architecture compacter.The mode of traditional robot generally use tandem drive, often
A degree of freedom is operated alone by a motor, and tandem drive makes joint drive motor and the transmission chain of movement as being closed before it
The load for saving driving motor, increases the load of motor, increases the inertia of system, while also affecting the dynamic in joint
Property.Flexible difference composite rotating joint module is in the form of two rotation driving joints are in parallel come driving bevel gear difference engine
Structure keeps structure compacter, reduces the height of transmission chain, makes the reduction of robot center of gravity, improves the motion stabilization of robot
Property.
Realize high-torque output.In the occasion for carrying out heavy load operation, it usually needs robot exports the power and power of bigger
Square, and the waist of robot and shoulder are often bearing capacity and the bigger place of torque at this time, traditional robot relies only on list
A driving joint carries.The flexible differential driving joint module of two degrees of freedom rotation is to drive load jointly by two motors,
Robot high-torque output is realized in pure pitching or the pure beat direction of motion, improves the bearing capacity of robot.
Applied to robot privileged site.It is applied to for example, the two degrees of freedom is rotated flexible differential driving joint module
Robot waist under the premise of being not desired to change or can not change mobile mechanism's pose, leads to as robot motion to designated position
Flexible waist movement is crossed, the pose of trunk part is changed so that has more, better arm motion posture available, expands
The working space of robotic arm has been opened up, flexibility and the stability of arm motion are also further increased.
Invention content
（One）Technical problems to be solved
It is insufficient present on existing robot mechanism in order to overcome.The present invention provides a kind of new two degrees of freedom rotations
Flexible differential driving joint module, which may be implemented pitching, beat and compound motion, wherein using miter gear
On the one hand differential coupling mechanism makes joint overall structure compacter, reduce the center of gravity of mechanism, on the other hand may be implemented to bow
It faces upward or the independently moving of two degree of freedom of beat, and the compound motion of pitching and beat may be implemented.In addition, using isometrical cone tooth
Take turns difference mechanism, wherein for two drive bevel gears as driving gear, the kind of drive driving two engaged by teeth portion is passive
Bevel gear moves, and dynamic bevel gear does universal movement as output around axis crosspoint, therefore dynamic bevel gear is not
It is fixedly supported, and is in vacant state, be only supported by the field of conjugate action of drive bevel gear, lead to weight and load in this way
It acts on the flank of tooth, the abrasion and failure of bevel gear can be caused for a long time.Therefore a kind of right-angled intersection supporting block assembling is devised
Part is mounted among four bevel gears, and the stress of dynamic bevel gear will act on right-angled intersection supporting block assembly, and cross is handed over
Fork supporting block assembly transmits the force to drive bevel gear wheel hub, and then is transmitted on outer support shell, so as to improve stress
Situation.
It is driven again at two on joint simultaneously and respectively increases a torque elasticity transfer module, make joint itself that there is inherence
Passive flexibility, when by external contact or by external impact generate buffering, to be effectively protected by user, and should
Torque elasticity transfer module has the function of torgue measurement.In addition, since the characteristics of miter gear differential coupling mechanism is to pass through
Two active conical tooth wheel drives, two dynamic bevel gears, when dynamic bevel gear group is around the first rotary shaft or around the rotation of the second rotary shaft
When, output torque is single turning moment（I.e.：Pitching moment or yaw moment）, torque size is the power of two drive bevel gears
The sum of square；When dynamic bevel gear group is moved around two rotary shafts simultaneously（I.e.：Exist simultaneously pitching and beat movement）, power output
Square is two turning moments, and torque size is respectively the difference of the sum of torque of two drive bevel gears and torque, therefore using etc.
Diameter bevel gear differential coupling mechanism can realize that high-torque exports, and for carrying larger position, such as waist or shoulder, need
Larger dead weight and external loading are born, it is big to disclosure satisfy that waist or shoulder carry using miter gear differential coupling mechanism
Demand.
（Two）Technical solution
The technical solution adopted by the present invention to solve the technical problems：
A kind of flexible differential driving joint module of two degrees of freedom rotation, is set between the first component and second component, uses
In realization relative motion between the two comprising：
Frame is connect with the first component；
Connecting rod is exported, is connect with second component；
Difference gear train has the drive bevel gear group being coupled and dynamic bevel gear group, drive bevel gear group and frame
It connects and rotatable, dynamic bevel gear group is then connect with output connecting rod, wherein drive bevel gear group has the first rotary shaft, quilt
There is dynamic bevel gear group the second rotary shaft, straight line where the first rotary shaft and the second rotary shaft to intersect vertically so that output connecting rod
It can be moved together with dynamic bevel gear group opposing frame, output connecting rod opposing frame movement includes：Connecting rod is exported together with quilt
Dynamic bevel gear group rotates and opposing frame pitching movement around the first rotary shaft together, and output connecting rod rotates and phase around the second rotary shaft
Frame beat is moved, output connecting rod is rotating and opposing frame pitching fortune together with dynamic bevel gear group around the first rotary shaft
It is also rotated and the compound motion of opposing frame beat around the second rotary shaft while dynamic.
Wherein, the drive bevel gear group of difference gear train is made of two bevel gears being oppositely arranged, difference gear train
Dynamic bevel gear group is made of two bevel gears being oppositely arranged, and each bevel gear of drive bevel gear group with by mantle tooth
Two bevel gears of wheel group engage simultaneously, constitute the self-supporting differential coupling structure of a stable structure.
Wherein, two bevel gear appearance and sizes of drive bevel gear group are identical and two cone teeth of dynamic bevel gear group
It is identical to take turns appearance and size so that when two bevel gear constant speed of drive bevel gear group rotate in same direction, output connecting rod is together with passive
Bevel gear set rotates and opposing frame pitching movement around the first rotary shaft together；When two bevel gear constant speed of drive bevel gear group
When incorgruous rotation, output connecting rod is rotated around the second rotary shaft and opposing frame beat moves；When two cones of drive bevel gear group
When gear friction speed rotates, output connecting rod is rotating and opposing frame pitching fortune together with dynamic bevel gear group around the first rotary shaft
It is also rotated and the compound motion of opposing frame beat around the second rotary shaft while dynamic.
Wherein, one of two bevel gears of dynamic bevel gear group connect and drive its movement with output connecting rod, another
Opposite output connecting rod idle running.
Wherein, four bevel gear appearance and sizes are identical, and in constituting square-shaped frame on same plane.
Wherein, also there is difference gear train supporting module, supporting module there is support shaft and supporting block, support shaft to be connected to
It exports between connecting rod and the bevel gear of dynamic bevel gear group, supporting block is set to the inside for the rectangle frame that four bevel gears are surrounded simultaneously
Rotatably it is sheathed on support shaft.
Wherein, the support shaft of supporting module is fixedly connected with output link detachable.
Wherein, the rotary shaft of the bevel gear of drive bevel gear group extends to supporting block, forms rotatable support.
Wherein, the drive bevel gear group of difference gear train is connected with an elastic module, makes the active conical tooth of difference gear train
What wheel group received is the input of flexible drive power.
Wherein, elastic module has：
Outer casing member, inner wall are equipped with the clip convex block extended inward,
Spoke is set to inside outer casing member, and spoke has the clip plate to extend outwardly,
Elastic component is set between the clip convex block and the clip plate of spoke of outer casing member, provides the elasticity of torque between the two
It transmits（For example, when outer casing member rotates under the drive of input shaft or has rotating tendency, clip convex block passes through compression/stretching
Rotary motion or rotating tendency are transferred to the clip plate of spoke by elastic component）, and
Receive the input shaft of driving force input and the output shaft of flexible output is provided, alternative one is connect with outer casing member, separately
One connect with spoke.
Wherein, the cross section of clip convex block is in integrally fan-shaped or fan ring.
Wherein, elastic component is arranged close to the inner wall of outer casing member, so that the elastic component axis of rotation far from spoke as possible.
Wherein, there is frame a pair of of lug, output connecting rod to have a pair of of lug, two pairs of orthogonal buttons of lug of the two
It closes, constitutes an accommodating space, difference gear train is set in the accommodating space.
Wherein, the first rotary shaft of the drive bevel gear group of difference gear train is supported in a pair of of lug of frame, difference tooth
Second rotary shaft of the dynamic bevel gear group of train is supported in a pair of of lug of output connecting rod.
Wherein, it is connected by drive module between the drive bevel gear group and frame of difference gear train, as two degrees of freedom
The driving force source of the flexible differential driving joint module of rotation, drive module quantity is two, is arranged in two of frame respectively
Lug, makes a drive module part be located at the inside of the lug of frame, and a part is located at the outside of the lug of frame（Drive mould
First shell of block is located at the inside of the lug of frame, and second housing portion is located at the outside of the lug of frame, the connection of the two
Place is in the lug of frame.）.
Wherein, the driving force that drive module provides is transferred to the initiative taper of difference gear train by one group of transmission spur gear group
Gear set, which includes active spur gear and passive spur gear, and active spur gear receives the driving of drive module
Power, and couple and be transferred to passive spur gear, the passive spur gear of transmission spur gear group, which compares active spur gear, has the rotation of offset
Shaft axis, transmission spur gear group are located at the outside of the lug of frame.
Wherein, the rotation axis of the passive spur gear of transmission spur gear group is located at the drive bevel gear group of difference gear train
Straight line where first rotary shaft, the rotation axis for being driven the active spur gear of spur gear group is in parallel, and two drive modules
Transmission spur gear group two active spur gears rotation axis with transmission spur gear group passive spur gear rotation axis
Subpoint on the lug of frame constitutes three vertex of a triangle.
Wherein, the support shaft both ends of the supporting module of difference gear train form outer-hexagonal axis, and connecting rod is exported with being fixed on
The Hexagon hole of the ring flange of a pair of of lug matches, one of two bevel gears of dynamic bevel gear group of difference gear train
End face outside be fixedly connected with the end face of ring flange, another bevel gear passes through the supporting module of bearing and difference gear train
The rotatable connection of support shaft.
Wherein, the bevel gear being fixedly connected with ring flange in two bevel gears of the dynamic bevel gear group of difference gear train,
Also pass through key connection with the support shaft of the supporting module of difference gear train.
The present invention also provides a kind of difference gear trains, are set between the first component and second component, for realizing the two
Between relative motion, there is the drive bevel gear group that is coupled and dynamic bevel gear group, drive bevel gear group with first
Part frame connects and rotatably, dynamic bevel gear group is then connect with second component, wherein drive bevel gear group has the first rotation
There is the second rotary shaft, straight line where the first rotary shaft and the second rotary shaft to intersect vertically for axis, dynamic bevel gear group so that second
Component can be moved together with dynamic bevel gear group relative thereto, and movement includes：Second component is together with dynamic bevel gear
Group rotates and relative thereto pitching movement around the first rotary shaft together, second component around the second rotary shaft rotate and with respect to the
One component beat moves, and second component is being rotated together with dynamic bevel gear group around the first rotary shaft and relative thereto is bowed
It is also rotated and the compound motion of relative thereto beat around the second rotary shaft while facing upward movement.
Wherein, drive bevel gear group is made of two bevel gears being oppositely arranged, and dynamic bevel gear group is by being oppositely arranged
Two bevel gears are constituted, and each bevel gear of drive bevel gear group nibbles with two bevel gears of dynamic bevel gear group simultaneously
It closes, constitutes the self-supporting differential coupling structure of a stable structure.
Wherein, two bevel gear appearance and sizes of drive bevel gear group are identical and two cone teeth of dynamic bevel gear group
It is identical to take turns appearance and size so that when two bevel gear constant speed of drive bevel gear group rotate in same direction, second component is together with passive
Bevel gear set rotates and relative thereto pitching movement around the first rotary shaft together；When two bevel gears of drive bevel gear group
When the incorgruous rotation of constant speed, second component is rotated around the second rotary shaft and relative thereto beat moves；When drive bevel gear group
The rotation of two bevel gear friction speeds when, second component together with dynamic bevel gear group around the first rotary shaft rotate and with respect to the
It is also rotated and the compound motion of relative thereto beat around the second rotary shaft while one component pitching movement.
Wherein, one of two bevel gears of dynamic bevel gear group connect with second component and drive its movement, another
Opposite second component dallies.
Wherein, four bevel gear appearance and sizes are identical, and in constituting square-shaped frame on same plane.
Wherein, also there is supporting module, supporting module there is support shaft and supporting block, support shaft to be connected to second component
Between the bevel gear of dynamic bevel gear group, supporting block is set to the inside of rectangle frame that four bevel gears are surrounded and rotatable
It is sheathed on support shaft.
Wherein, the support shaft of supporting module is removably secured with second component connect.
Wherein, the rotary shaft of the bevel gear of drive bevel gear group extends to supporting block, forms rotatable support.
（Three）Advantageous effect
The invention has the advantages that the flexible differential driving joint module of two degrees of freedom rotation uses miter gear difference
On the one hand coupled structure makes mechanism compact, reduce the center of gravity of mechanism, and placed side by side by two driving motors, common to drive
Two drive bevel gears are moved, high-torque output is realized；On the other hand the independent of two degree of freedom of pitching or beat may be implemented
Movement, and the compound motion of pitching and beat may be implemented.It is driven on joint at two not only simultaneously but also respectively increases a torque
Elastic transfer module makes joint itself have inherent passive flexibility, is generated when by external contact or by external impact
Buffering, to be effectively protected the safety for being improved robot system by user, and the torque elasticity transfer module has
Torgue measurement function.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is shown, a kind of stereoscopic schematic diagram of embodiment of the flexible differential driving joint module of two degrees of freedom rotation（Its
In, a is the schematic diagram with output connecting rod 0800, and b is the schematic diagram after a removal output connecting rods 0800）.
Fig. 2 show a kind of embodiment of the rotation flexibility differential driving joint module of the two degrees of freedom in Fig. 1 frame 0100.
Fig. 3 show a kind of embodiment of driving joint circuit case 0300.
Fig. 4 show a kind of embodiment of straight-tooth spur gear transmission group 0400.
Fig. 5 show frame 0100, driving joint 0200, driving joint circuit case 0300 and active straight-tooth spur gear
A kind of connection structure stereoscopic schematic diagram between 0401.
Fig. 6 show frame 0100, driving joint 0200, driving joint circuit case 0300, active straight-tooth spur gear
A kind of connection structure schematic cross-sectional view between 0401 and the circuit board 0900 in driving joint 0200.
Fig. 7 show torque elasticity transfer module 0500 and is connected with the drive bevel gear of difference miter gear system 0600
A kind of connection structure stereoscopic schematic diagram.
Fig. 8 show torque elasticity transfer module 0500 and is connected with the drive bevel gear of difference miter gear system 0600
A kind of connection structure schematic cross-sectional view.
Fig. 9 show a kind of embodiment of difference miter gear system（Wherein a is vertical view, and b is stereogram）.
Figure 10 show a kind of stereoscopic schematic diagram of embodiment of right-angled intersection supporting module 0700.
Figure 11 show a kind of schematic cross-sectional view of embodiment of right-angled intersection supporting module 0700.
Figure 12 show a kind of embodiment of output connecting rod 0800.
Figure 13 is shown between difference miter gear system 0600, right-angled intersection supporting module 0700 and output connecting rod 0800
A kind of connection structure stereoscopic schematic diagram.
Figure 14 is shown between difference miter gear system 0600, right-angled intersection supporting module 0700 and output connecting rod 0800
A kind of connection structure schematic cross-sectional view.
Figure 15 show two flange connectors 1000 and a kind of 1100 embodiment（Wherein a is flange connector 1000
Stereogram, b be flange connector 1100 stereogram）.
Figure 16 show a kind of schematic cross-sectional view of embodiment in driving joint 0200.
Figure 17 show a kind of stereoscopic schematic diagram of embodiment in driving joint 0200.
【Reference sign】
<> of the present invention;
Frame 0100, bottom plate 0101 walk line three-way hole 0102, support plate 0103, support plate 0104, square hole 0105, screw thread
Hole 0106, through-hole 0107, drive module 0200, drive module output shaft 0201, drive module output shaft support element 0202, driving
It is module end cap 0203, right casing 0204, retarder 0205, wave producer 0205-1, steel wheel 0205-2, flexbile gear 0205-3, left outside
Shell 0206, powerless magnetic brake shell 0207, powerless magnetic brake 0208, position detecting module 0209, code-disc transmission shaft
0210, motor shaft 0211, motor 0212, circuit case 0300, mounting hole 0301, circuit interface hole 0302, sensor cable hole
0303, straight-tooth spur gear transmission group 0400, active straight-tooth spur gear 0401, driven straight-tooth spur gear 0402,
Torque elasticity transfer module 0500, torque elasticity transfer module input shaft 0501, encoder code disc axis 0502, torque
Detection module 0503, moment inspecting module fixed seat 0504, fan-shaped supporting block 0505, elastic component 0506, spoke 0507, shell
Part 0508, mounting flange 0509, spring bearing 0510, active conical tooth wheel drive shaft 0511, end ring 0512, the isometrical cone of difference
Gear train 0600, drive bevel gear 0601, drive bevel gear 0602, dynamic bevel gear 0603, dynamic bevel gear 0604, branch hold mode
Block 0700, support shaft 0701, supporting block 0702, bearing outer baffle ring 0703, angular contact ball bearing 0704, deep groove ball bearing 0705,
Export connecting rod 0800, main body 0801, mounting portion 0802, lightening hole 0803, mounting portion 0804, taper pin-hole 0805, threaded hole 0806,
Mounting portion 0807, taper pin-hole 0808, threaded hole 0809, circuit board 0900, flange connector 1000, ring flange 1001, interior hexagonal
Slot 1002, pin hole 1003, threaded hole 1004, threaded hole 1005, pin hole 1006, flange connector 1100, ring flange 1101, interior six
Chamfered groove 1102, pin hole 1103, pin hole 1104.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, for convenience of description, some nouns of locality have been used, such as up and down etc., these nouns of locality
Mainly it is defined according to the direction of corresponding views.In addition, also using the inside and outside equal nouns of locality, these nouns of locality are mainly
According to what is be defined inside and outside product.
Fig. 1 (a), the solid for (b) showing a kind of embodiment of the flexible differential driving joint module of two degrees of freedom rotation are shown
It is intended to.As shown in Figure 1, the flexible differential driving joint module of two degrees of freedom rotation of the present invention, includes mainly：Frame 0100,
0300, two pair of two drive modules 0200 below the frame, drive module circuit case straight-tooth spur gear transmission group
0400, two torque elasticity transfer modules 0500, difference miter gear system 0600, right-angled intersection supporting module 0700, output
Connecting rod 0800 and drive module circuit board 0900.
Two drive modules 0200 are mounted on two degrees of freedom by flanged joint respectively and rotate flexible differential driving joint mould
On block frame 0100, the support plate of the axis of the output shaft of drive module 0200 perpendicular to frame 0100（It is one in the present embodiment
To the form of lug）, drive module circuit case 0300 plays protection circuit plates 0900 for being sleeved in drive module 0200
Effect.The output shaft of drive module 0200 is connected with the driving wheel of straight-tooth spur gear transmission group 0400, and power and movement are passed
Pass torque elasticity transfer module 0500, the master of the output and difference miter gear system 0600 of torque elasticity transfer module 0500
Dynamic bevel gear is connected, and the output of difference miter gear system 0600 passes to output connecting rod 0800 to complete by dynamic bevel gear
Pitching, beat or compound motion.
In above-mentioned two degrees of freedom rotates flexible differential driving joint module, there are two drive module and a bodies for tool altogether
Dry, the rotation axis of two 0200 output shafts of drive module is mutually parallel, and is each perpendicular to the support plate of frame 0100, two rotations
The plane that axis is constituted is parallel to the bottom plate of frame 0100.Therefore the flexible differential driving joint module of two degrees of freedom rotation has altogether
There are two degree of freedom, can realize the movement of any direction.The flexible differential driving joint module knot of two degrees of freedom rotation simultaneously
Structure is compact small and exquisite, has apery friendly, makes to be easier to receive by user.
In addition, the above-mentioned flexible differential driving joint module of two degrees of freedom rotation passes through on the one hand from the angle in joint
In joint addition torque elasticity transfer module 0500, makes mechanism itself that there is inherent passive flexibility, contacted with by user
When or when by external impact, buffering is generated, to be effectively protected by user；On the other hand make this using Technology of ZO control
The flexible differential driving joint module of two degrees of freedom rotation generates active compliance to unstructured (unknown) environment, makes robot can
Safely to complete required movement in working space.To sum up two aspect characteristics make two degrees of freedom rotation flexible differential driving joint
Module fundamentally solves the problems, such as safety.
In the following, by each of flexible differential driving joint module is rotated to two degrees of freedom by way of embodiment in conjunction with attached drawing
A component part is described in detail.
Two degrees of freedom rotation flexibility differential driving joint module frame 0100
Fig. 2 show a kind of embodiment of frame 0100.As shown in Fig. 2, frame 0100 includes a bottom plate 0101 and two
A support plate 0103,0104.It is provided with the through-hole of fixed screw on bottom plate 0101, is used for connecting portion corresponding in robot
It is connected to a fixed.Line three-way hole 0102 is walked in 0101 centre position of bottom plate there are one opening, such as can be round tube hole, and supply lines passes through,
To connect multiple circuit boards on the mounting surface of bottom plate, the power supply electric wire and signal wire in robot are by walking line three-way hole
0102 cabling is rotated to the two degrees of freedom on flexible differential driving joint module.
Two support plates 0103,0104 on frame 0100 are mutually perpendicular to bottom plate 0101, two support plates 0103,0104
Lower section is respectively opened close to the position of bottom plate 0101 there are one square hole 0105 and multiple threaded holes, is respectively intended to fix two driving moulds
Block 0200, while the side of square hole 0105 opens that there are four threaded holes 0106, for fixing drive module circuit case 0300；Support
Through-hole 0107 and multiple threaded holes there are one being opened above plate 0103,0104, the master for diameter bevel gear system 0600 of grading for fixed difference
Dynamic bevel gear and torque elasticity transfer module 0500, specific connection type will be explained in greater detail below.
Drive module 0200
Drive module 0200 and the support plate 0103,0104 of frame 0100 are connected and fixed by fastener.
Drive module 0200 includes sheet electromagnetic brake 0208, motor 0212 and retarder 0205, drive module
Moment elasticity transfer module 0500 is free of in 0200, the two is phase separation, and torque elasticity transfer module 0500 has below
It is introduced.Explanation will be specifically addressed to drive module 0200 below.
Figure 16 show a kind of schematic cross-sectional view of embodiment of drive module 0200.As shown in figure 16, the drive module
0200 it is main including motor 0212, the retarder 0205 that is connected with the output end of motor, be connected with 0205 output end of retarder
Drive module output shaft 0201, the powerless magnetic brake 0208 being connected with motor output end and position detecting module 0209.
Motor 0212 is preferably using having hollow rimless brushless motor, for providing torque.Motor 0212 includes stator
And rotor, it is connected to motor housing in the outside fixing sleeve of stator, motor stator is fixed by electric machine casing.It is opened on motor housing body
Grooved hole, power supply machine electric wire are pierced by.
For ease of assembly and disassembly, motor housing includes 0,204 two parts of left outside shell 0206 and right casing, between each other can be with
It is connected by fasteners such as screws, and motor axle bearing is installed at the support of two shells, be used to support motor shaft progress
Rotary motion.Preferably, there is left outside shell 0206 flange portion of protrusion, the fasteners such as screw to pass through the flange portion by left and right shell
It links together.The flange portion of protrusion is preferably formed into rectangular, and the fasteners such as screw are connected to the four corners of square flange.
Line outlet is machined on the side wall of left outside shell 0206, motor lines draw to be connected to driving by the line outlet
On the circuit board of module 0200.In addition, being equipped with motor axle bearing at the support of left outside shell 0206.It is outer on the right side of motor simultaneously
Motor axle bearing is also installed at the left end support of shell 0204, and is compressed by bearing (ball) cover, motor shaft 0211 by left outside shell and
Bearing at the two of right casing is carried out at the same time support, and drives motor shaft 0211 by the rotor of motor 0212 by this pair of bearings
It is rotated, the rotor of motor shaft 0211 and motor is fixed by interference fit, specifically, rotor has greatly
Centre bore, motor shaft 0211 pass through rotor, one end of motor shaft 0211 to connect retarder by the connection type of tight fit
0205, the other end connects powerless magnetic brake 0208.Motor shaft 0211 is preferably hollow shaft, for for code-disc transmission shaft
0210 passes through the motor shaft 0211, and the output movement of retarder 0205 is transmitted to the position detecting module 0209 of module left end.
There is 0211 left end of motor shaft the shaft part that diameter reduces, the shaft part to be connected with powerless magnetic brake 0208, dead electricity electromagnetic braking
Device 0208 is used to lock motor shaft under unexpected power blackout situation, plays the role of protecting hardware.0211 right end of motor shaft has straight
The longer axis section that diameter reduces has keyway on the shaft part, is passed with the wave producer 0205-1 of retarder 0205 by being keyed
Torque delivery, the tip of the axis have external screw thread, can install a spring washer and nut, play the wave generation to retarder 0205
The effect of device 0205-1 axially positions.
Bearing is installed at the right end support of right casing 0204, which is used to support drive module output shaft support element
0202, only by a bearing it is difficult to ensure that the concentricity and stationarity of the operating of drive module output shaft, therefore in right casing
A drive module end cap 0203 is fixed on 0204 end face, and bearing is installed at the support of 0203 right end of drive module end cap,
Ensure the concentricity and stationarity of the operating of drive module output shaft by a pair of bearings in this way.Drive module end cap 0203 and the right side
The end face of shell 0204 is fixedly connected by screw fastener.
Retarder 0205 can be harmonic speed reducer, and motor shaft 0211 is connected with the wave producer of harmonic speed reducer, harmonic wave
The flexbile gear of retarder is connected with flexbile gear output shaft, and flexbile gear output shaft passes through hollow motor shaft and to overhanging to be connected to position inspection
Survey module 0209.Flexbile gear 0205-3, drive module output shaft support element 0202 and the drive module output shaft 0,201 3 of retarder
Person is linked together by fastener, is finally transmitted movement with torque output by key connection by drive module output shaft 0201
To straight-tooth spur gear 0401.
Code-disc transmission shaft 0210 is connected and fixed by screw thread and nut with drive module output shaft 0201, drive module output
Rotary motion is passed to the subsequent position detecting module of drive module 0209 by axis 0201 by code-disc transmission shaft 0210.It examines position
Survey module 0209 is it is preferable to use incremental encoder, the reality for detecting retarder flexbile gear output shaft or joint output shaft 0201
The angle turned over, has been described above, repeats no more.The code-disc of position detecting module 0209 passes through holding screw code-disc transmission shaft
On 0210, encoder is fixed on by screw fastener on powerless magnetic brake shell 0207.Powerless magnetic brake shell
0207 right end has the flange of protrusion, is fixed using screw fastener and the left outside shell 0206 of motor, while powerless magnetic brake
It is machined with line outlet on 0207 side wall of shell, is used for 0208 cabling of powerless magnetic brake.
There are two 0200 quantity of the drive module and identical, respectively two supports of the mounting arrangements in frame 0100
The lower part of plate.
Drive module circuit case 0300
Fig. 3 show a kind of embodiment of drive module circuit case 0300.As shown in figure 3, drive module circuit case
0300 includes mounting hole 0301, circuit interface hole 0302 and sensor cable hole 0303.The circuit case 0300 can be existed with empty set
In drive module 0200, and it is connected with the support plate 0103 and 0104 of frame 0100 by mounting hole 0301, to be used for protecting
Circuit board 0900.Terminal is fixed on transmission of the circuit interface hole 0302 for power supply and control signal wire, wherein circuit board
It is electrically connected with the motor realization in joint by the circuit interface hole 0302 in circuit case end sidewalls.Sensor cable hole
0303 is set on circuit case side wall, is for the moment inspecting module cabling in torque elasticity transfer module 0500 to driving mould
On the circuit board 0900 of block 0200.
Straight-tooth spur gear transmission group 0400
Fig. 4 show a kind of embodiment of straight-tooth spur gear transmission group 0400.Straight-tooth spur gear transmission group 0400 includes two
To primary transmission straight-tooth spur gear, it is distributed on the both sides of frame 0100 respectively, each pair of gear set includes an active straight-tooth commutating tooth
Wheel 0401 and a driven straight-tooth spur gear 0402.Straight-tooth spur gear transmission group 0400 is for that will drive the movement in joint 0200
The torque elasticity transfer module 0500 that 0100 top of frame is passed to power, is finally driven by torque elasticity transfer module 0500
Difference miter gear system 0600.
The active straight-tooth spur gear 0401 of straight-tooth spur gear transmission group 0400 is connected with the output shaft of drive module 0200, even
Mode is connect using key connection, and do axial end portion using screw and baffle ring and fix.Driven straight-tooth spur gear 0402 and torque elasticity
The input terminal of transfer module 0500 is connected, likewise, driven straight-tooth spur gear 0402 and torque elasticity transfer module 0500 is defeated
Enter end using key connection, end is fixed using screw and baffle ring.Since there are manufacturing and positioning errors, lead to gear-driven
Gap increases, and to increase load impact, influences transmission stability, therefore using the method for adjustable center distance come adjustment gear in designing
The method in the gap of transmission, use is：It is used for fixing drive module 0200 in two support plates 0103,0104 of frame 0100
Square hole 0105 and tapped through hole amplify, and it is 0 ~ 0.5mm to make gear clearance adjustable extent.
Frame 0100, drive module 0200, drive module circuit case 0300, active straight-tooth spur gear 0401 and driving mould
The circuit board 0900 of block 0200 is connected.
Fig. 5 show frame 0100, drive module 0200, drive module circuit case 0300 and active straight-tooth spur gear
A kind of connection structure stereoscopic schematic diagram between 0401.Fig. 6 show frame 0100, drive module 0200, drive module circuit
A kind of connection structure section view between shell 0300, active straight-tooth spur gear 0401 and the circuit board 0900 of drive module 0200 is shown
It is intended to.
In the present embodiment, two drive modules 0200 are installed on by flange in two support plates of the frame 0100,
The rotation axis of two drive modules 0200 is mutually parallel and direction is on the contrary, the output shaft of i.e. two drive modules is directed toward frame branch
The outside of fagging, two rotation axis are generally aligned in the same plane and are parallel to the base plate plane of frame 0100.Specifically, such as Fig. 5 and
Shown in Fig. 6, one of drive module 0200 is inserted into the square hole 0105 of 0103 lower section of support plate on frame 0100, and
It is connect using fastened by screw with support plate 0103 by the flange in drive module 0200, the output shaft of drive module 0200 and master
Dynamic straight-tooth spur gear 0401 is connected, and for example, by using key connection, active straight-tooth spur gear can be with 1 by power and movement:1 transmission ratio
The driven wheel of straight-tooth spur gear transmission group is passed to, and does end using screw and baffle ring and fixes.Drive module circuit case
0300 as described above, and empty set passes through the support plate on mounting hole 0301 and frame 0100 in drive module 0200
0104 is connected using fastened by screw.Driving joint circuit board 0900 is located at 0300 the inside of drive module circuit case and is examined by near position
The position of module 0209 is surveyed, and is fixedly connected with using screw and support plate 0104.
Specifically, driving joint circuit board 0900 includes control circuit board and drive circuit board, have on each circuit board
Respective power supply module is formed including controlig power board, driving power plate, control circuit board, drive circuit board
Multiple circuit boards, circuit provides power supply to controlig power board therein in order to control, and driving power plate provides power supply for driving circuit.It is more
A circuit board is linked in sequence by electric wire, and is kept flat and rotated flexible differential driving joint module chassis base mounted on two degrees of freedom
Mounting plane on, in the present embodiment, between multiple circuit boards by arrange needle be superimposed, on the one hand realize two circuit boards
Between relative position fixation, on the other hand realize two circuit boards between electrical connection.
The flexible differential driving joint module of two degrees of freedom rotation described above, circuit board 0900 are located at circuit case 0300
The inside behind drive module 0200, and is fixedly connected with using screw and frame support plate, and board design is logical at two pieces of circuit boards
Following circuit board is fixed on by fastener screws in frame case by the row of mistake for the slotting form being superimposed, ingeniously
Space is utilized wonderfully so that compact overall structure, it is easy to accomplish modularization, and it is convenient for disassembly and assembly.
Torque elasticity transfer module 0500
Fig. 7 show torque elasticity transfer module 0500 and is connected with the drive bevel gear of difference miter gear system 0600
A kind of connection structure stereoscopic schematic diagram.Fig. 8 show torque elasticity transfer module 0500 and difference miter gear system
A kind of schematic cross-sectional view for connection structure that 0600 drive bevel gear is connected.
As shown in Figure 7 and Figure 8, torque elasticity transfer module 0500 includes torque elasticity transfer module input shaft 0501, compiles
Code device code disk shaft 0502, moment inspecting module 0503（Preferably, moment inspecting module uses incremental encoder）, moment inspecting
Module fixed seat 0504, fan-shaped supporting block 0505, elastic component 0506, spoke 0507, housing component 0508, mounting flange 0509,
Spring bearing 0510, active conical tooth wheel drive shaft 0511, end ring 0512.Axis 0501 is commonly entered to be used to transmit torque, it is defeated
Enter axis 0501 and passes through fastener with housing component 0508（Such as screw）It is connected, and spoke is passed torque to by housing component 0508
Part 0507, spoke 0507 are fixedly connected with active conical tooth wheel drive shaft 0511, and active conical tooth wheel drive shaft 0511 is connected by double bond
It connects and passes torque to drive bevel gear.
Driving tapered gear shaft 0512 is preferably hollow shaft so that the cable of the moment inspecting module 0503 of moment inspecting can
To be easily threaded through the hollow shaft.Torque elasticity transmits input shaft 0501 and is connected with encoder code disc axis 0502 by jackscrew, and
Encoder code disc 0502 is driven to rotate together.
In the present embodiment, the housing component 0508 be formed as include bottom wall and side wall tubular, spoke 0507 is located at shell
Inside body part 0508, there are four secter pats being evenly distributed, spoke 0507 to have on the side wall inner peripheral surface of housing component 0508
There is center drum and around the center drum and four connecting plates being circumferentially distributed, the end of each connecting plate and shell
There is gap, four secter pats to be arranged alternately with four connecting plates, and adjacent between the internal perisporium of 0508 side wall of body part
Have elastic component flexibly to transmit torque between secter pat and connecting plate.On preferably adjacent secter pat and connecting plate respectively
It is provided with guide post, there is gap, elastic component to be helical compression elastomeric spring and be set in phase between adjacent two guide posts
In two adjacent guide posts.
To make active conical tooth wheel drive shaft be fixedly connected with spoke 0507, torque elasticity transfer module 0500 is to take turns
Spoke part 0507 is used as output, is connected with active conical tooth wheel drive shaft 0511, specifically, 0508 bottom wall of housing component has center
The one end in hole, active conical tooth wheel drive shaft 0511 is connected to the spoke 0507 after the centre bore.
Difference miter gear system 0600
Fig. 9 show a kind of embodiment of difference miter gear system.As shown in figure 9, difference miter gear system 0600
By four identical bevel gear sets of dimensional parameters at including two drive bevel gears 0601,0602 and two are by mantle tooth
Wheel 0603,0604.
Difference transmission has the characteristics that compact-sized, uniform force, bearing capacity are strong, is that very cleverly structure is set one kind
Meter form, in the present embodiment, the spiral bevel gear of four equidimension parameters is arranged symmetrically intermeshing, i.e. two drive bevel gears
Together with two dynamic bevel gear intermeshings, differential coupling structure type is constituted, principle is as shown in figure 9, torque elasticity passes
Pass the output driving shaft of module 0500（That is active conical tooth wheel drive shaft 0511）Respectively with two drive bevel gears 0601 and 0602
It is connected, is moved by the differential coupling of two drive bevel gears to realize the flexible differential driving joint module of two degrees of freedom rotation
The compound motion of pitching, beat or both.
Specifically, two pairs of drive bevel gear Relative distributions, two pairs of dynamic bevel gears be meshed with two pairs of drive bevel gears and
It is symmetrical, and cross support block 0702 is set among four isometrical spiral bevel gears, it is supported by cross support block 0702,
Keep its structure more stable, and is also further cased with cross support axis 0701 on cross support block 0702 and is used to support.Wherein, intersect
It is sleeved on described two driving tapered gear shafts by a pair of bearings in the axis direction along drive bevel gear in supporting block 0702；
One dynamic bevel gear is fixed end cap by dynamic bevel gear and is connected and fixed with output connecting rod 0800, another bevel gear passes through axis
Bearing sleeve is on cross support axis 0701.
More specifically, driven gear 0603 is moved with output output connecting rod 0800 by being keyed output, driven gear
0604 by bearing holder (housing, cover) in support shaft 0701, realize the idle running of driven gear 0604 to improve stress, support shaft 0701 and output
Connecting rod 0800 is fixedly connected with.
When drive bevel gear 0601 and 0602 constant speed rotate in same direction, driven gear 0603 and 0604 is revolved around the first rotary shaft
Pitching movement is transferred out, when drive bevel gear 0601 and the incorgruous rotation of 0602 constant speed, driven gear 0603 and 0604 is around second
Rotary shaft rotates outlet side pendular motion, when drive bevel gear 0601 and 0602 is other forms of motion, exports pitching and beat
Compound motion.This structure generates a pressing force for being axially directed bevel gear big end to gear during the motion, because
This only needs that axial to gear there are one the positioning in direction in structure design.
Right-angled intersection supporting module 0700
Figure 10 show a kind of stereoscopic schematic diagram of embodiment of right-angled intersection supporting module 0700.Figure 11 show cross
A kind of schematic cross-sectional view of embodiment of cross support module 0700.As shown in Figure 10, which leads
To include support shaft 0701, right-angled intersection supporting block 0702, the outer baffle ring 0703 of bearing, a pair of of angular contact ball bearing 0704 and a pair
Deep groove ball bearing 0705.
There are four staggered form through-hole, positioned opposite two through-holes are separately installed with the tool of right-angled intersection supporting block 0702
A pair of of angular contact ball bearing 0704 and a pair of of deep groove ball bearing 0705.
The cross support block is sleeved in the axis direction along two dynamic bevel gears by angular contact ball bearing 0704
A piece dynamic bevel gear support shaft（That is support shaft 0701）On, it is mainly used to bear axial force, one of dynamic bevel gear is logical
It crosses double-row angular contact bal bearing 0704 and is sleeved on dynamic bevel gear support shaft one end, another dynamic bevel gear is by double bond and passively
The other end of bevel gear support shaft is connected to transmit torque.
Deep groove ball bearing 0705 is mainly used to bear radial load（It wears the free end of preferably active conical tooth wheel drive shaft 0511
It crosses drive bevel gear 0601/0602 and is supported on deep groove ball bearing 0705）.
The support shaft 0701 is multi-diameter shaft, and support shaft 0701 matches peace with the pair of angular contact ball bearing 0704
Dress, support shaft 0701 give axial force transmission to the pair of angular contact ball bearing 0704 by the shaft shoulder step at intermediate position.Institute
It is preferably outer-hexagonal shape to state 0701 both ends of support shaft, is matched with the interior hex surface of two flange parts by outer-hexagonal face, is used
In transmission torque.
Export connecting rod 0800
Figure 12 show a kind of embodiment of output connecting rod 0800.As shown in figure 12, output connecting rod 0800 includes mainly master
Body 0801, mounting portion 0802 positioned at the upside of main body 0801, the right-angled intersection supporting module 0700 positioned at 0801 both sides of main body
Mounting portion 0804 and 0807（It is the form of a pair of of lug in the present embodiment, two lightening holes can be set on each lug
0803）, 0801 both sides of main body respectively respectively there are two taper pin-hole 0805 and 0808, for positioning and transmitting torque and main body
Respectively there are multiple threaded holes 0806 and 0809 in 0801 both sides respectively, are connected main body 0801 and flange by the screw across the threaded hole
Fitting is connected.
A rotary joint trunk front end part for robot can be contained in mounting portion, and logical using fasteners such as screws
The mounting hole crossed around mounting portion 0802 is connected with output connecting rod 0800.
The mounting portion 0802 is preferably through-hole, while having multiple screw counter sinks around mounting portion 0802, tightly
Firmware passes through multiple screw counter sink to be connected with each other with outer structural parts.
The mounting portion 0804 and 0806 preferred shape are through-hole, and 0701 both ends of the support shaft pass through flanged joint respectively
Part is connected with mounting portion 0804 and 0806.
Difference miter gear system 0600, right-angled intersection supporting module 0700 are connected with output connecting rod 0800
Figure 13 is shown between difference miter gear system 0600, right-angled intersection supporting module 0700 and output connecting rod 0800
A kind of connection structure stereoscopic schematic diagram.Figure 14 show difference miter gear system 0600, right-angled intersection supporting module 0700
A kind of connection structure schematic cross-sectional view between output connecting rod 0800.Figure 15 show two flange connectors 1000 and 1100
A kind of embodiment.
Two flange connectors are connected by taper pin and screw fastener with the mounting portion at 0800 both ends of output connecting rod.Tool
Body, as shown in figure 15, flange connector 1000 includes ring flange 1001, interior hex slot 1002, pin hole 1003 and 1006, screw thread
Hole 1004 and 1005.1001 right end of ring flange can be inserted in 0804 through-hole of mounting portion of output connecting rod 0800, then by wearing
It crosses the positioning pin of dowel hole 1003 and it is connected with dynamic bevel gear 0603 across the screw of threaded hole 1004.Interior hex slot
1002 outer-hexagonal with support shaft 0701 close to 0603 one end of dynamic bevel gear matches, for transmitting torque.Ring flange 1001
Upper multiple threaded holes and pin hole, by positioning pin across dowel hole 1005 and across threaded hole 1006 screw by its with it is defeated
Go out link body 0801 to be connected.
On the one hand positioning pin connection plays the role of positioning, on the other hand play and transmit torque.Positioning pin with it is interior
Six Point cooperation is common to transmit torque, to which optimization improves the stressing conditions of support shaft 0701 and flange connector 1000.
Flange connector 1100 has similar structure, including ring flange 1101, interior hex slot with flange connector 1000
1102, pin hole 1103 and 1104.Similarly, by positioning pin across dowel hole 1104 and across the screw of threaded hole 1103
It is connected with output link body 0801.Flange connector 1100 is by its interior hex slot 1102 and support shaft 0701 close to quilt
The outer-hexagonal of 0604 one end of dynamic bevel gear matches, to transmit torque.
The flexible differential driving joint module of two degrees of freedom rotation of the present invention can work as follows：
Two drive modules by being arranged under frame by the flexible differential driving joint module of two degrees of freedom rotation parallel
Side, by being keyed two active straight-tooth spur gears of driver framework both sides, two actives are straight for the output shafts of two drive modules
Tooth spur gear passes through level-one 1:The transmission chain of 1 transmission ratio will move and torque passes to passive straight-tooth spur gear and a torque bullet
Property transfer module, finally drives drive bevel gear by the output of torque elasticity transfer module.Four dimensional parameters are identical
Bevel gear, and be intermeshed, constitute differential coupling structure type.A pair of of dynamic bevel gear is provided and is bowed as final output
It faces upward, beat or compound motion, while exporting resultant moment and high-torque output is provided.Dynamic bevel gear is connected with output connecting rod, with
Connecting rod is exported as output, is machined with mounting portion above convenient for being connected with other component.End can be used as by exporting connecting rod
Actuator is held, while can also be used as the connecting rod connector in next joint, depending on concrete application.
In summary it is found that the flexible differential driving joint module of two degrees of freedom rotation of the present invention be capable of providing it is flexible and big
Torque is applied in robot.It uses two degree of freedom to extend robot motion space, increases kinematic dexterity, together
When robot is acted, whole body degree of freedom can be given full play to, action is made more to coordinate.Two degrees of freedom rotation is flexible poor
Divide driving joint module to use miter gear differential coupling, on the one hand makes mechanism compact, reduce the center of gravity of mechanism, another party
The independently moving of two degree of freedom of pitching or beat may be implemented in face, and the compound motion of pitching and beat may be implemented.Simultaneously
It is driven on joint at two not only but also respectively increases a torque elasticity transfer module, make joint itself that there is the passive soft of inherence
Property, buffering is generated when by external contact or by external impact, to be effectively protected by user, and torque elasticity
Transfer module has the function of torgue measurement.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
For example, difference gear train can be the miter gear in above-described embodiment, non-mitre gears can also be used, it can
To be the right angle bevel gear in above-described embodiment, on-right angle bevel gear can also be used, can be straight bevel gear, can also be
Helical bevel gear or other bevel gears.
Be driven spur gear group either commutating tooth combination, can also be the combination of helical teeth, either 1:1 transmission
Than can also be other transmission ratios.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
For example, both difference gear train and frame etc. can be applied in combination, can also be used alone, it both can be in conjunction with elasticity
Module can not also can be both arranged driving gear set, can also omit driving gear set in conjunction with elastic module.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of flexible differential driving joint module of two degrees of freedom rotation, is set between the first component and second component, is used for
Realize relative motion between the two, which is characterized in that it includes：
Frame is connect with the first component；
Connecting rod is exported, is connect with second component；
There is difference gear train the drive bevel gear group being coupled and dynamic bevel gear group, drive bevel gear group to be connect with frame
And it is rotatable, dynamic bevel gear group is then connect with output connecting rod, wherein drive bevel gear group has the first rotary shaft, by mantle
There is gear set the second rotary shaft, straight line where the first rotary shaft and the second rotary shaft to intersect vertically so that output connecting rod can
The movement of all directions, sports bag of the output connecting rod relative to frame are carried out relative to frame together with dynamic bevel gear group
It includes：When two bevel gear constant speed of drive bevel gear group rotate in same direction, output connecting rod is together with dynamic bevel gear group around the
One rotary shaft rotate and relative to frame pitching movement；It is defeated when the incorgruous rotation of two bevel gear constant speed of drive bevel gear group
Go out connecting rod to rotate and the movement of opposing frame beat around the second rotary shaft；When two bevel gear friction speeds of drive bevel gear group rotate
When, output connecting rod together with dynamic bevel gear group around the first rotary shaft rotate and while opposing frame pitching movement also around
Second rotary shaft rotates and the compound motion of opposing frame beat；
Cross support block is set among difference gear train, cross support axis, a dynamic bevel gear are arranged on cross support block
With output connecting rod by being keyed output movement, another dynamic bevel gear is by bearing holder (housing, cover) on cross support axis；
Output connecting rod includes main body, the mounting hole on the upside of main body, is used to connect cross support axis positioned at main body both sides
Mounting portion, wherein main body both sides are additionally provided with the taper pin-hole for positioning and transmitting torque and are used to be connected with flange connector
Threaded hole；
Two flange connectors are connect by taper pin and screw fastener with the mounting portion of output connecting rod two end, flange connector packet
Ring flange, interior hex slot, pin hole and threaded hole are included, one end of ring flange is inserted into the through-hole of the mounting portion of output connecting rod, positioning
Pin and screw sequentially pass through ring flange and export the taper pin-hole and threaded hole of link body both sides, by ring flange and output connecting rod master
Body connects, also, the interior hex slot of flange connector is connected on the inside of output link body and outer six on the outside of cross support axis
Angle coordinates, and is turned round by flange connector simultaneously with cross support axis connection for transmitting by the cooperation of interior hex slot and outer-hexagonal
Square；
The drive bevel gear group of difference gear train is connected with an elastic module, and the drive bevel gear group of difference gear train is made to have rotation
Turn the flexibility on direction, can play a buffer role in when by foreign impacts；
Elastic module has：
Outer casing member, inner wall are equipped with the clip convex block extended inward,
Spoke is set to inside outer casing member, and spoke has the clip plate to extend outwardly,
Elastic component is set between the clip convex block and the clip plate of spoke of outer casing member, provides the elasticity transmission of torque between the two,
Receive the input shaft of driving force input and the output shaft of flexible output is provided, wherein input shaft passes through encoder code disc axis
It being connect with outer casing member, output shaft is connect with spoke, and
Moment inspecting module positioned at spoke and between receiving the input shaft that driving force inputs, and is fixed on spoke；
It is connected by drive module between the drive bevel gear group and frame of difference gear train, it is flexible poor as two degrees of freedom rotation
It is two to divide the driving force source of driving joint module, drive module quantity, is arranged in two lugs of frame respectively, makes driving
A module part is located at the inside of the lug of frame, and a part is located at the outside of the lug of frame；
The driving force that drive module provides is transferred to the drive bevel gear group of difference gear train by one group of transmission spur gear group, should
It includes active spur gear and passive spur gear to be driven spur gear group, and active spur gear receives the driving force of drive module, and couples
It is transferred to passive spur gear, passive spur gear compares active spur gear, and there is the rotation axis of offset, transmission spur gear group to be located at
The outside of the lug of frame.
2. the flexible differential driving joint module of two degrees of freedom rotation according to claim 1, it is characterised in that：Difference gear
Four bevel gear appearance and sizes of system are identical, and drive bevel gear group is made of two bevel gears being oppositely arranged, dynamic bevel gear
Group is made of two bevel gears being oppositely arranged, and each bevel gear of two bevel gear sets engages simultaneously, constitutes a structure
Stable self-supporting differential coupling structure, and in constituting square-shaped frame on same plane.
3. the flexible differential driving joint module of two degrees of freedom rotation according to claim 2, it is characterised in that：By mantle tooth
One of two bevel gears of wheel group connect and drive its movement with output connecting rod, another opposite output connecting rod idle running.
4. the flexible differential driving joint module of two degrees of freedom rotation according to claim 2, it is characterised in that：Difference gear
Also there is supporting module, supporting module there is support shaft and supporting block, support shaft to be connected to output connecting rod and dynamic bevel gear for system
Between the bevel gear of group, supporting block is set to the inside for the rectangle frame that four bevel gears are surrounded and is rotatably sheathed on support
Axis.
5. the flexible differential driving joint module of two degrees of freedom rotation according to claim 4, it is characterised in that：Supporting module
Support shaft with output link detachable be fixedly connected, the rotary shaft of the bevel gear of drive bevel gear group extends to supporting block,
Form rotatable support.
6. the flexible differential driving joint module of two degrees of freedom rotation according to claim 1, it is characterised in that：Clip convex block
Cross section be in integrally fan-shaped or fan ring.
7. the flexible differential driving joint module of two degrees of freedom rotation according to claim 1, it is characterised in that：Elastic component leans on
The inner wall setting of nearly outer casing member, so that the elastic component axis of rotation far from spoke as possible.
8. the flexible differential driving joint module of two degrees of freedom rotation according to claim 1, it is characterised in that：It is driven straight-tooth
The rotation axis of the passive spur gear of wheel group is located at straight line where the first rotary shaft of the drive bevel gear group of difference gear train, passes
The rotation axis of the active spur gear of dynamic spur gear group is in parallel, and two masters of the transmission spur gear group of two drive modules
Subpoint of the rotation axis of dynamic spur gear with the rotation axis for the passive spur gear for being driven spur gear group on the lug of frame
Constitute three vertex of a triangle.
9. the flexible differential driving joint module of two degrees of freedom rotation according to claim 1, it is characterised in that：Difference gear
The support shaft both ends of the supporting module of system form outer-hexagonal axis, in the ring flange for a pair of of the lug for being fixed on output connecting rod six
Corner apertures matches, the end face outside of one of two bevel gears of dynamic bevel gear group of difference gear train and the end of ring flange
Face is fixedly connected, the rotatable connection of support shaft that another bevel gear passes through bearing and the supporting module of difference gear train.
10. the flexible differential driving joint module of two degrees of freedom rotation according to claim 9, it is characterised in that：Difference tooth
The bevel gear being fixedly connected with ring flange in two bevel gears of the dynamic bevel gear group of train, the also support with difference gear train
The support shaft of module passes through key connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610638764.2A CN106182071B (en) | 2016-08-05 | 2016-08-05 | The flexible differential driving joint module of two degrees of freedom rotation |
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| CN201610638764.2A CN106182071B (en) | 2016-08-05 | 2016-08-05 | The flexible differential driving joint module of two degrees of freedom rotation |
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| CN112894783A (en) * | 2021-01-19 | 2021-06-04 | 深圳技术大学 | Two-degree-of-freedom differential mechanical arm joint module |
| CN114571497B (en) * | 2022-03-14 | 2024-02-20 | 上海大学 | Leg arm robot pivot type explosive movement joint based on double-motor power cooperation |
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