CN107344360A - A kind of double-degree-of-freedom robot module - Google Patents
A kind of double-degree-of-freedom robot module Download PDFInfo
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- CN107344360A CN107344360A CN201710640883.6A CN201710640883A CN107344360A CN 107344360 A CN107344360 A CN 107344360A CN 201710640883 A CN201710640883 A CN 201710640883A CN 107344360 A CN107344360 A CN 107344360A
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- rotation
- fixed
- casing
- decelerator
- revolution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The present invention relates to a kind of double-degree-of-freedom robot module, turning round module includes revolution casing, the revolution driving gear being fixed on the output shaft of the first motor, the first decelerator being fixed on revolution casing, the revolution driven gear being fixed on the first decelerator input, the gyroscopic output component being fixed in the first decelerator output end；Rotation module includes and the relatively-stationary rotation casing of turn-around machine shell, the rotation driving gear being fixed on the output shaft of the second motor, the second decelerator being fixed on rotation casing, the rotation driven gear being fixed on the second decelerator input, the drive bevel gear being fixed in the second decelerator output end, the rotation pedestal being fixed on rotation casing, the output shaft being pivotally mounted on rotation pedestal, the rotation output precision being fixed on output shaft, the dynamic bevel gear being fixed on output shaft.The robot module is compact-sized, and has two frees degree, belongs to the technical field of robot module.
Description
Technical field
The present invention relates to the technical field of robot module, more particularly to a kind of double-degree-of-freedom robot module.
Background technology
With economic and science and technology development, robot is obtained in every field such as industry, services and is widely applied.Machine
Device people is applied to some application scenarios specifically fixed more, although relatively conventional plant equipment has very big flexibility,
Generally speaking, function is still relatively simple, lacks restructural, scalability.Modular method is used for robot technology so that machine
Device people can adapt to according to the difference of specific tasks and the different restructuring configurations of working environment to improve the environment of robot
Ability.
Have many advantages, such as due to robot modularized, more and more focus on reconfigurable modular robot
Systematic research is with exploitation, while also there is the robot module of some commercializations, at home, in 2007, Harbin
Polytechnical university just has been developed that spacing mechanical arm perpendicular style modularization joint (application number：200710072712.4), Changzhou is advanced
A kind of tow-armed robot modularized joint (application number for hollow structure that Study on manufacturing technology is developed：
201410594998.2), multiple joint modules are connected by link module, so as to form modularization robot, above-mentioned joint
Module is single-degree-of-freedom module；Guangdong University of Technology develops a kind of robot revolute joint module (Shen of interior cabling recently
Please number：201610196241.7) and a kind of interior cabling rotating and swinging joint module of robot (application number：201610196244.0),
The mode inside walked make it that robot tailored appearance is attractive in appearance, and modularization can be assembled into by the way that multiple different modules first places are connected
Robot system, but it is similarly single-degree-of-freedom module.
In summary, existing modularization robot of having developed is formed by multiple single-degree-of-freedom module assembleds, however,
Robot needed for practical application generally includes multiple frees degree, if the corresponding joint module of one degree of freedom, can cause mould
Kuai Hua robots overall structure larger, structure be not compact, and its reliability can also decline therewith.It is simply single free by two
The double-degree-of-freedom robot module that degree module assembled forms, can not take into account robot reliability, compact type, Yi Jiyu mostly
The compatibility of a variety of robot modules.
The content of the invention
For technical problem present in prior art, the purpose of the present invention is：A kind of double-degree-of-freedom robot mould is provided
Block, the robot module is compact-sized, reliability is high, is conveniently replaceable, repairs and extends, and has two frees degree.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of double-degree-of-freedom robot module, including revolution module and rotation module；
Turning round module includes revolution casing, the first motor being fixed on revolution casing, is fixed on the output of the first motor
Revolution driving gear on axle, the first decelerator being fixed on revolution casing, it is fixed on returning on the first decelerator input
Turn driven gear, the gyroscopic output component being fixed in the first decelerator output end；Turn round driving gear and revolution driven gear
It is meshed；
Rotation module is included with the relatively-stationary rotation casing of turn-around machine shell, the second motor being fixed on rotation casing,
The rotation driving gear being fixed on the output shaft of the second motor, the second decelerator being fixed on rotation casing, it is fixed on
Rotation driven gear on two decelerator inputs, the drive bevel gear being fixed in the second decelerator output end, is fixed on pendulum
The rotation pedestal made a connection on shell, the output shaft being pivotally mounted on rotation pedestal, the rotation output group being fixed on output shaft
Part, the dynamic bevel gear being fixed on output shaft；Rotation driving gear and rotation driven gear are meshed, drive bevel gear and by
Dynamic bevel gear is meshed.
It is further：Revolution casing is in ladder circle tubular, and the first motor is fixed on the end plate of revolution casing, revolution master
Moving gear is fixed by screws on the output shaft of the first motor, and revolution driving gear is located at turn around the inside of casing；Turn-around machine
Shell has been internally formed step surface, and the first decelerator is fixed on the step surface of revolution casing internal, and revolution driven gear passes through
Screw is fixed on the input of the first decelerator, and revolution driven gear is located at turn around the inside of casing.Reasonably by the first electricity
Machine, revolution driving gear, revolution driven gear, the first decelerator are arranged on revolution casing, and realize the first motor by one
The rotation of the first decelerator is driven to gear.
It is further：Gyroscopic output component includes gyroscopic output shell and gyroelectric plate, and gyroelectric plate is arranged on back
Turning on output shell, gyroscopic output shell has been internally formed ring-type projection, and ring-type projection is fixed in the output end of the first decelerator,
First decelerator is located at turn around in the cavity that casing and gyroscopic output shell surround.The structure of gyroscopic output shell is reasonably provided with,
The output end direct drive gyroscopic output shell rotation of first decelerator.
It is further：Rotation casing is in ladder circle tubular, and the second motor is fixed on the end plate of rotation casing, rotation master
Moving gear is fixed by screws on the output shaft of the second motor, and rotation driving gear is located at the inside of rotation casing；Second subtracts
Fast device is fixed on the end face of rotation casing, and rotation driven gear is fixed by screws on the input of the second decelerator, pendulum
Turn the inside that driven gear is located at rotation casing.Reasonably by the second motor, rotation driving gear, rotation driven gear, second
Decelerator is arranged on rotation casing, and realizes that the second motor drives the second decelerator to rotate by a pair of gears.
It is further：Rotation casing is externally formed with step surface, and rotation pedestal is fixed on the platform outside rotation casing
On terrace；The end of rotation pedestal is provided with the first adjutage and the second adjutage being arranged symmetrically, and installs to output shaft rotation formula
On the first adjutage and the second adjutage, between the first adjutage and the second adjutage, second slows down drive bevel gear
Device is located in the cavity that rotation casing and rotation pedestal surround.Rotation pedestal is reasonably provided with, can be facilitated rotation pedestal,
Two decelerators, drive bevel gear fit together.
It is further：Output shaft is provided with first shaft shoulder and second shaft shoulder, and the first adjutage is built-in with clutch shaft bearing, the
The end face of one adjutage is provided with clutch shaft bearing end cap, and clutch shaft bearing is sleeved on output shaft, and one end of clutch shaft bearing is close to first
The shaft shoulder, the other end of clutch shaft bearing are close to clutch shaft bearing end cap；Dynamic bevel gear is fixed on output shaft by bearing pin, by mantle
The end face of gear is close to second shaft shoulder, and the second adjutage is built-in with second bearing, and the end face of the second adjutage is provided with second bearing
End cap, second bearing are close to second bearing end cap, and second bearing is sleeved on output shaft, between second bearing and dynamic bevel gear
Provided with axle sleeve, axle sleeve is sleeved on output shaft.Bearing (ball) cover, axle sleeve, bearing, dynamic bevel gear are reasonably assembled in output shaft
On, the rotation of dynamic bevel gear directly drives the rotation of output shaft.
It is further：Rotation output precision includes rotation circuit board, rotating and swinging joint plate, IOB, contiguous block；Rotation electricity
Road plate is arranged on rotating and swinging joint plate, and rotating and swinging joint plate is provided with two rotating and swinging joint arms being arranged symmetrically, and contiguous block is fixed on
On rotating and swinging joint arm, IOB is bolted with contiguous block, and IOB is fixed on output shaft.Two rotating and swinging joint arm peaces
Mounted in the rear and front end of output shaft, rotating and reverse for output shaft drives rotating and swinging joint arm rotation.
It is further：The slip ring in hollow form is equipped with revolution casing and rotation casing.It can allow the electricity of electrical equipment
Line passes through, and protects related electric wire.
It is further：Rotation module also includes two dust covers, two dust covers are corresponding be arranged on the first adjutage and
On second adjutage.The parts inside dust cover can be protected.
It is further：Robot module also includes connecting cylinder, and one end of connecting cylinder is fixed by screws in revolution casing
On, the other end of connecting cylinder is fixed by screws on rotation casing, and the first motor and the second motor are located at the inside of connecting cylinder.
Rotation module and revolution module are linked together.
Generally speaking, the invention has the advantages that：
Robot modular structure is compact, design is succinct, rationally, reliability it is high, using simple and reliable mechanical connection and
Electrical connection, it is possible to by robot module application to robot, convenient disassembly between module, be easy to quick-replaceable, dimension
Repair and extend.In addition, the attachment structure that robot module uses is reasonable, it is easy to process and assembles, reduce robot module
While production cost, the maintenance of robot is more beneficial for.
Brief description of the drawings
Fig. 1 is the sectional view in robot module's main view direction.
Fig. 2 is the sectional view for turning round module.
Fig. 3 is the sectional view of rotation module.
Fig. 4 is the left view of robot module, and being drawn at rotation casing and revolution casing has partial sectional view.
Fig. 5 is the explosive view of robot module.
Fig. 6 is the explosive view for turning round module.
Fig. 7 is the explosive view of rotation module.
Wherein, 1 is the first fixture, and 2 be the first drive circuit board, and 3 be the first motor, and 4 be revolution driving gear, and 5 are
Driven gear is turned round, 6 be the input of the first decelerator, and 7 be the first decelerator, and 8 be the output end of the first decelerator, and 9 are back
Favourable turn shell, 10 is turn round the end plate of casing, and 11 be gyroscopic output shell, and 12 be ring-type projection, and 13 be gyroelectric plate, and 14 be second
Motor, 15 be rotation driving gear, and 16 be rotation driven gear, and 17 be rotation casing, and 18 be the end plate of rotation casing, and 19 be pendulum
The step surface of favourable turn shell outline, 20 be the input of the second decelerator, and 21 be the second decelerator, and 22 be the defeated of the second decelerator
Go out end, 23 be drive bevel gear, and 24 be the flange in drive bevel gear, and 25 be connection drive bevel gear and the output of the second decelerator
The screw at end, 26 be the second decelerator of connection and the screw of rotation casing, and 27 be rotation pedestal, and 28 be the first adjutage, and 29 are
Clutch shaft bearing, 30 be clutch shaft bearing end cap, and 31 be first shaft shoulder, and 32 be the first rotating and swinging joint arm, and 33 be the first contiguous block, and 34 are
First IOB, 35 be the second adjutage, and 36 be second bearing, and 37 be second bearing end cap, and 38 be axle sleeve, and 39 be by mantle tooth
Wheel, 40 be bearing pin, and 41 be second shaft shoulder, and 42 be the second rotating and swinging joint arm, and 43 be the second contiguous block, and 44 be the second IOB, 45
It is rotation circuit board for output shaft, 46,47 be rotating and swinging joint plate, and 48 be dust cover, and 49 be slip ring, and 50 be connecting cylinder, and 51 be company
Connect the screw of rotation pedestal and rotation casing.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
For sake of convenience, now hereafter described orientation is provided as follows：Hereafter described left and right directions and Fig. 1 in itself upper
Lower direction is consistent, and hereafter left and right directions of the described fore-and-aft direction with Fig. 1 in itself is consistent.
With reference to shown in Fig. 1 to Fig. 7, a kind of double-degree-of-freedom robot module, including revolution module and rotation module.Mold rotation
Block includes revolution casing, the first motor being fixed on revolution casing, the revolution active being fixed on the output shaft of the first motor
Gear, the first decelerator being fixed on revolution casing, the revolution driven gear being fixed on the first decelerator input are fixed
Gyroscopic output component in the first decelerator output end；Revolution driving gear and revolution driven gear are meshed.
Rotation module is included with the relatively-stationary rotation casing of turn-around machine shell, the second motor being fixed on rotation casing,
The rotation driving gear being fixed on the output shaft of the second motor, the second decelerator being fixed on rotation casing, it is fixed on
Rotation driven gear on two decelerator inputs, the drive bevel gear being fixed in the second decelerator output end, is fixed on pendulum
The rotation pedestal made a connection on shell, the output shaft being pivotally mounted on rotation pedestal, the rotation output group being fixed on output shaft
Part, the dynamic bevel gear being fixed on output shaft；Rotation driving gear and rotation driven gear are meshed, drive bevel gear and by
Dynamic bevel gear is meshed.
It is in ladder circle tubular to turn round casing, and the outline for turning round casing is circle, and stepped, turns round the inner chamber of casing
Also it is circle, and it is stepped；It is fixed to turn round casing, will not be rotated.Turn round a certain section of outer diameter ruler of casing outline
Very little big, a certain section of outside dimension of revolution casing outline is small, and step surface can be formed in the place of external diameter change in size；Similarly,
The inner chamber of revolution casing can also form step surface.The left end of revolution casing has one piece of end plate, and the right-hand member for turning round casing is opening,
End plate and revolution casing are to be integrally formed, integral structure.First motor is fixed on the end plate of revolution casing, the first motor position
In the left side of end plate, the first motor is fixed by screws on end plate.The output shaft of first motor passes through end plate, turns round driving tooth
Wheel is fixed by screws on the output shaft of the first motor, and revolution driving gear is located at turn around the inside of casing.Turn round casing
Step surface is internally formed, the first decelerator is fixed by screws on the step surface of revolution casing internal, the first decelerator
Outline is fixed, and the input and output end of the first decelerator are rotatable, and revolution driven gear is consolidated by screw
It is scheduled on the input of the first decelerator, revolution driven gear is located at the left end of the first decelerator, and revolution driven gear is positioned at end
The right of plate, revolution driven gear are located at turn around the inside of casing, and revolution driving gear and revolution driven gear are meshed.
Gyroscopic output component includes gyroscopic output shell and gyroelectric plate, and gyroelectric plate is arranged on the right side of gyroscopic output shell
On end, gyroscopic output shell has been internally formed ring-type projection, and ring-type projection is fixed by screws in the output end of the first decelerator
On, the first decelerator is located at turn around in the cavity that casing and gyroscopic output shell surround.Gyroscopic output shell is generally also in ladder circle
The right side of tubular, the left side of gyroscopic output shell and revolution casing is in contact, and turns round the inwall and gyroscopic output shell of casing
Inwall defines a cavity.The rotation of first decelerator output end can drive gyroscopic output shell to rotate.
Rotation casing is in ladder circle tubular, and the outline of rotation casing is circular, and stepped, the inner chamber of rotation casing
Also it is circular inwall；Rotation casing is fixed, will not be rotated.A certain section of outside dimension of rotation casing outline is big,
A certain section of outside dimension of rotation casing outline is small, and step surface can be formed in the place of external diameter change in size.Rotation casing
Right-hand member also has one piece of end plate, and the left end of rotation casing is opening, and end plate and rotation casing are to be integrally formed, integral structure.
Second motor is fixed on the end plate of rotation casing, and the second motor is located at the right of end plate, and the second motor is fixed by screws in
On end plate.The output shaft of second motor passes through end plate, and rotation driving gear is fixed by screws on the output shaft of the second motor,
Rotation driving gear is located at the inside of rotation casing.Second decelerator is fixed by screws on the left side of rotation casing, the
The outline of two decelerators is fixed, and the input and output end of the second decelerator are rotatable, rotation driven gears
It is fixed by screws on the input of the second decelerator, rotation driven gear is located at the right-hand member of the second decelerator, and rotation is passive
Gear is located at the left side of end plate, and rotation driven gear is located at the inside of rotation casing, rotation driving gear and rotation driven gear
It is meshed.
Rotation casing is externally formed with step surface, and rotation pedestal is fixed by screws in the step surface outside rotation casing
On；The left part of rotation pedestal is provided with the first adjutage and the second adjutage being arranged symmetrically, i.e. the first adjutage and second prolongs
Semi-girder is arranged on the left end of rotation pedestal, and is arranged symmetrically before and after the first adjutage and the second adjutage, the first adjutage and
Two adjutages are integrally formed with rotation pedestal, are integral structures.It is arranged on the first adjutage and the to output shaft rotation formula
On two adjutages, output shaft is set along fore-and-aft direction, and drive bevel gear is main between the first adjutage and the second adjutage
Dynamic bevel gear is fixed by screws in the output end of the second decelerator, and drive bevel gear is provided with flange, and the flange is fixed on
In the output end of second decelerator.Drive bevel gear and dynamic bevel gear are meshed, drive bevel gear and the axle of dynamic bevel gear two
The angle of cut be 90 ° so that the output shaft rotation arranged along the longitudinal direction.Second decelerator is located at rotation casing and rotation pedestal encloses
Into cavity in, the inwall of rotation casing and the inwall of rotation pedestal define a cavity.
Output shaft is provided with first shaft shoulder and second shaft shoulder, and first shaft shoulder is located at the back of second shaft shoulder, the first adjutage
Positioned at the back of the second adjutage, the first adjutage is built-in with clutch shaft bearing, has a through hole in the first adjutage, by first axle
Hold in the through hole of the first adjutage.The rear end face of first adjutage is provided with clutch shaft bearing end cap, i.e. clutch shaft bearing end cap
On the rear end face of the first adjutage, clutch shaft bearing is sleeved on output shaft, and the front end of clutch shaft bearing is close to first shaft shoulder,
The rear end of clutch shaft bearing is close to clutch shaft bearing end cap, and first shaft shoulder and clutch shaft bearing end cap are axially confined clutch shaft bearing,
So that clutch shaft bearing is immovable on the axial direction of output shaft.Dynamic bevel gear is fixed on output shaft by bearing pin, quilt
The rear end face of dynamic bevel gear is close to second shaft shoulder, and the second adjutage is built-in with second bearing, there is a through hole in the second adjutage,
Second bearing is arranged in the through hole of the second adjutage.The front end face of second adjutage is provided with second bearing end cap, i.e., and second
Bearing (ball) cover is arranged on the front end face of the second adjutage, and the front end of second bearing is close to second bearing end cap, second bearing
Rear end is close to axle sleeve, and axle sleeve and second bearing end cap are axially confined second bearing so that second bearing is in output shaft
It is immovable on axial direction.Second bearing is sleeved on output shaft, and axle sleeve, axle are provided between second bearing and dynamic bevel gear
It is sleeved on output shaft, the rear end of axle sleeve is abutted against in dynamic bevel gear, and the front end abutment of axle sleeve second bearing.By mantle
Gear, axle sleeve, second bearing, second bearing end cap are close to and are sleeved on output shaft successively from back to front.Second shaft shoulder and
Two bearing (ball) covers are axially confined the part between them, and dynamic bevel gear is fixed on output shaft by bearing pin.It is defeated
Shaft runs through clutch shaft bearing end cap and second bearing end cap.
Rotation output precision includes rotation circuit board, rotating and swinging joint plate, IOB, contiguous block；Rotation circuit board is arranged on
On rotating and swinging joint plate, rotating and swinging joint plate is provided with two rotating and swinging joint arms being arranged symmetrically, corresponding, IOB and contiguous block
It is provided with two；Two rotating and swinging joint arms, two IOBs, two contiguous blocks are referred to as the first rotating and swinging joint arm, the second pendulum successively
Turn joint arm, the first IOB, the second IOB, the first contiguous block, the second contiguous block.Rotating and swinging joint arm and rotating and swinging joint plate are
It is integrally formed, integral structure.Contiguous block is fixed on rotating and swinging joint arm, and IOB is bolted with contiguous block, output
Block is fixed on output shaft.For the first rotating and swinging joint arm later, the first IOB and the first contiguous block, the first rotation
Joint arm is located at behind the first adjutage, and the first contiguous block is embedded and is fixed on the first rotating and swinging joint arm, the first IOB
It is bolted with the first contiguous block, and the first IOB is embedded from the rear end face of output shaft and is fixed on output shaft.It is right
For the second rotating and swinging joint arm above, the second IOB and the second contiguous block, the second rotating and swinging joint arm is positioned at the second extension
Before arm, the second contiguous block is embedded and is fixed on the second rotating and swinging joint arm, and the second IOB and the second contiguous block pass through spiral shell
Bolt is fixed, and the second IOB is embedded from the front end face of output shaft and is fixed on output shaft.The rotation of output shaft can band movable pendulum
Turn output precision rotation, and the first adjutage, the second adjutage can't rotate.
The slip ring in hollow form is equipped with revolution casing and rotation casing.The electric wire of electrical equipment can be allowed by setting slip ring
Pass through, if the line of electrical equipment is arranged on the inwall of robot module, when the parts in module rotate, easily damage is electric
Line.
Rotation module also includes two dust covers, and two dust covers are corresponding to be arranged on the first adjutage and the second adjutage
On.One dust cover covers the part structure at the first adjutage, and another dust cover covers the structure at the second adjutage,
So as to allow two adjutages, bearing, axle sleeves etc. not to be emerging in outside.
Robot module also includes connecting cylinder, and one end of connecting cylinder is fixed by screws on revolution casing, connecting cylinder
The other end is fixed by screws on rotation casing, and the first motor and the second motor are located at the inside of connecting cylinder.
Robot module also includes the first drive circuit board, the first fixture, the second drive circuit board, the second fixture.
First fixture is fixed by screws on the end plate of revolution casing, and the first fixture and the first drive circuit board are all located at turning round
The left side of casing, the first drive circuit board are fixed on the first fixture, the first drive circuit board and the connection of the first motor signal.
Second fixture is fixed by screws on the end plate of rotation casing, and the second fixture and the second drive circuit board are all located at rotation
The right of casing, the second drive circuit board are fixed on the second fixture, the second drive circuit board and the connection of the second motor signal.
The operation principle of robot module：First drive circuit board sends command signal to the first motor, the first motor
Output shaft drive revolution driving gear rotation, revolution driving gear drive revolution driven gear rotation, revolution driven gear drive
The input of dynamic first decelerator, the output end driving gyroscopic output shell of the first decelerator and the rotation of gyroelectric plate, so as to real
The function of now rotating, i.e. one degree of freedom.Second drive circuit board sends command signal to the second motor, and the second motor can be with
Rotate and reverse, the output shaft of the second motor drives the rotation of rotation driving gear, and rotation driving gear rotating band movable pendulum turns passive
Gear rotates, and rotation driven gear drives the input of the second decelerator, and the output end of the second decelerator drives drive bevel gear
Rotation, drive bevel gear drive dynamic bevel gear rotation, dynamic bevel gear drive output shaft rotation, output shaft by IOB,
Contiguous block drives the rotation of rotating and swinging joint arm, because the second motor can rotate and reverse, therefore rotating and swinging joint arm can be driven to exist
The rotation of certain angle scope, so as to realize the function of rotation, i.e. second free degree.
Gyroelectric plate and rotation circuit board can be realized with other robot module of the prior art to be electrically connected.First
Decelerator and the second decelerator are super flat hollow spindle-type harmonic gear reducer, referred to as SHD decelerators, are a standards
Part, SHD decelerators are due to being standard component, not section view in Fig. 1, simply in the connection of the second decelerator and drive bevel gear
Broken section has been made in place, the junction of the second decelerator and rotation casing.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
- A kind of 1. double-degree-of-freedom robot module, it is characterised in that：Including revolution module and rotation module；Turning round module includes revolution casing, the first motor being fixed on revolution casing, is fixed on the output shaft of the first motor Revolution driving gear, be fixed on revolution casing on the first decelerator, the revolution quilt being fixed on the first decelerator input Moving gear, the gyroscopic output component being fixed in the first decelerator output end；Revolution driving gear is mutually nibbled with revolution driven gear Close；Rotation module is included with the relatively-stationary rotation casing of turn-around machine shell, the second motor being fixed on rotation casing, fixed Rotation driving gear on the output shaft of the second motor, the second decelerator being fixed on rotation casing, it is fixed on second and subtracts Rotation driven gear on fast device input, the drive bevel gear being fixed in the second decelerator output end, is fixed on rotation machine Rotation pedestal on shell, the output shaft being pivotally mounted on rotation pedestal, the rotation output precision being fixed on output shaft, Gu The dynamic bevel gear being scheduled on output shaft；Rotation driving gear and rotation driven gear are meshed, drive bevel gear and by mantle Gear is meshed.
- 2. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that：It is in ladder barrel to turn round casing Shape, the first motor are fixed on the end plate of revolution casing, and revolution driving gear is fixed by screws in the output shaft of the first motor On, revolution driving gear is located at turn around the inside of casing；Revolution casing has been internally formed step surface, and the first decelerator is fixed on Turn round on the step surface of casing internal, revolution driven gear is fixed by screws on the input of the first decelerator, turns round quilt Moving gear is located at turn around the inside of casing.
- 3. according to a kind of double-degree-of-freedom robot module described in claim 2, it is characterised in that：Gyroscopic output component includes back Turn output shell and gyroelectric plate, gyroelectric plate is arranged on gyroscopic output shell, and gyroscopic output shell has been internally formed ring-type Projection, ring-type projection are fixed in the output end of the first decelerator, and the first decelerator is located at turn around casing and gyroscopic output shell encloses Into cavity in.
- 4. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that：Rotation casing is in ladder barrel Shape, the second motor are fixed on the end plate of rotation casing, and rotation driving gear is fixed by screws in the output shaft of the second motor On, rotation driving gear is located at the inside of rotation casing；Second decelerator is fixed on the end face of rotation casing, rotation passive tooth Wheel is fixed by screws on the input of the second decelerator, and rotation driven gear is located at the inside of rotation casing.
- 5. according to a kind of double-degree-of-freedom robot module described in claim 4, it is characterised in that：The outside formation of rotation casing There is step surface, rotation pedestal is fixed on the step surface outside rotation casing；The end of rotation pedestal is provided with the be arranged symmetrically One adjutage and the second adjutage, it is arranged on the first adjutage and the second adjutage to output shaft rotation formula, drive bevel gear Between the first adjutage and the second adjutage, the second decelerator is located in the cavity that rotation casing and rotation pedestal surround.
- 6. according to a kind of double-degree-of-freedom robot module described in claim 5, it is characterised in that：Output shaft is provided with first axle Shoulder and second shaft shoulder, the first adjutage are built-in with clutch shaft bearing, and the end face of the first adjutage is provided with clutch shaft bearing end cap, first axle Bearing sleeve is on output shaft, and one end of clutch shaft bearing is close to first shaft shoulder, and the other end of clutch shaft bearing is close to clutch shaft bearing end cap； Dynamic bevel gear is fixed on output shaft by bearing pin, and the end face of dynamic bevel gear is close to second shaft shoulder, built in the second adjutage There is second bearing, the end face of the second adjutage is provided with second bearing end cap, and second bearing is close to second bearing end cap, second bearing It is sleeved on output shaft, axle sleeve is provided between second bearing and dynamic bevel gear, axle sleeve is sleeved on output shaft.
- 7. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that：Rotation output precision includes pendulum Shifting circuit plate, rotating and swinging joint plate, IOB, contiguous block；Rotation circuit board is arranged on rotating and swinging joint plate, is set on rotating and swinging joint plate There are two rotating and swinging joint arms being arranged symmetrically, contiguous block is fixed on rotating and swinging joint arm, and IOB is connected with contiguous block by bolt Connect, IOB is fixed on output shaft.
- 8. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that：Turn round casing and rotation casing On be equipped with slip ring in hollow form.
- 9. according to a kind of double-degree-of-freedom robot module described in claim 5, it is characterised in that：Rotation module also includes two Dust cover, two dust covers are corresponding to be arranged on the first adjutage and the second adjutage.
- 10. according to a kind of double-degree-of-freedom robot module described in claim 1, it is characterised in that：Robot module also includes Connecting cylinder, one end of connecting cylinder are fixed by screws on revolution casing, and the other end of connecting cylinder is fixed by screws in rotation On casing, the first motor and the second motor are located at the inside of connecting cylinder.
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