CN112894783A - Two-degree-of-freedom differential mechanical arm joint module - Google Patents
Two-degree-of-freedom differential mechanical arm joint module Download PDFInfo
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- CN112894783A CN112894783A CN202110068907.1A CN202110068907A CN112894783A CN 112894783 A CN112894783 A CN 112894783A CN 202110068907 A CN202110068907 A CN 202110068907A CN 112894783 A CN112894783 A CN 112894783A
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 38
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000009467 reduction Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
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Classifications
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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
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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
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
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Abstract
本发明公开了一种二自由度差分式机械臂关节模块，包含第一动力源和第二动力源，所述第一动力源和第二动力源安装在支架上，第一动力源和第二动力源分别与第一小同步带轮和第二小同步带连接，在支架上还安装有差分传动机构，差分传动结构包含主动锥齿轮组、被动锥齿轮组和十字交叉轴，第一大同步轮、第二大同步轮、减速器和两个主动锥齿轮安装在第一支撑轴上，两个被动锥齿轮安装在第二支撑轴上，被动锥齿轮与连接盘固定连接，一个连接盘与输出连杆的一端固定连接，输出连杆的另一端与法兰盘连接，法兰盘套在第二支撑轴上，法兰盘紧贴连接盘。本发明采用同步带方案，同步带可以消除间隙并且将同步带放在减速器之前，可以减小误差。
The invention discloses a two-degree-of-freedom differential manipulator joint module, comprising a first power source and a second power source, the first power source and the second power source are mounted on a bracket, the first power source and the second power source The power source is respectively connected with the first small synchronous pulley and the second small synchronous belt, and a differential transmission mechanism is also installed on the bracket. The differential transmission structure includes a driving bevel gear set, a passive bevel gear set and a cross shaft. The wheel, the second large synchronizing wheel, the reducer and the two driving bevel gears are installed on the first support shaft, the two driven bevel gears are installed on the second support shaft, the driven bevel gears are fixedly connected with the connecting plate, and one connecting plate is connected with the connecting plate. One end of the output connecting rod is fixedly connected, and the other end of the output connecting rod is connected with a flange plate, the flange plate is sleeved on the second support shaft, and the flange plate is close to the connecting plate. The present invention adopts the synchronous belt scheme, the synchronous belt can eliminate the gap, and the synchronous belt is placed before the reducer, which can reduce the error.
Description
Technical Field
The invention relates to a two-degree-of-freedom differential mechanical arm joint module, and belongs to the field of medical robots.
Background
The mechanical arm of the medical robot has unique requirements because the mechanical arm is applied to an operating room and is directly contacted with a human body. One requirement is that the mechanical arm is slender and is straight when being straightened, so that the blockage of the mechanical arm to the view of a doctor (or an assistant of the doctor) can be reduced to the greatest extent. In order to ensure that the mechanical arm is slender in appearance and has strong power output, the joint design is very important. The differential mechanism has the characteristics of compact structure, uniform stress, strong bearing capacity and the like, and the scheme of the differential mechanism is adopted to realize the large-torque compact mechanical arm joint.
Patent CN106182071a proposes a design scheme of a two-degree-of-freedom differential joint module. The patent adopts a gear to connect the output of a motor, and realizes differential transmission by adopting a method of 4 equal-diameter bevel gears. The drawback of the patent CN106182071A technology. 1. The error is large: CN106182071A adopts motor output end direct connection reducing gear box, and the rethread gear wheel transmission moment of torsion reaches the bevel gear (promptly motor-reduction gear-gear) after slowing down. This does not take into account measures for eliminating backlash on the one hand, but on the other hand, the solution is to connect the gear after deceleration so that the errors of the gear are directly transmitted to the output. 2: the cross shaft bears strong load to cause the shaft to be easily damaged, and the output end of the cross shaft of CN106182071A is directly and fixedly connected with the gear through a key to bear all the load to cause the shaft to be easily damaged. 3. The precision is lower: the output end (the position of the constant-diameter bevel gear) is not provided with an encoder, and the angle of the actual output end cannot be detected, so that the error of the transmission mechanism cannot be detected.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a two-degree-of-freedom differential mechanical arm joint module, a synchronous belt scheme is adopted, the synchronous belt can eliminate the gap and is placed in front of a speed reducer (namely a motor-synchronous belt-speed reducer), the error can be reduced, and in addition, compared with gear transmission, the synchronous belt transmission has the advantage of light weight.
The technical scheme is as follows: in order to solve the technical problems, the invention provides a two-degree-of-freedom differential mechanical arm joint module, which comprises a first power source and a second power source, wherein the first power source and the second power source are arranged on a bracket, the first power source and the second power source are respectively connected with a first small synchronous belt pulley and a second small synchronous belt, a differential transmission mechanism is also arranged on the bracket, the differential transmission mechanism comprises a driving bevel gear set, a driven bevel gear set and a cross shaft, the cross shaft comprises a first supporting shaft and a second supporting shaft which are vertically arranged, the driving bevel gear set comprises two driving bevel gears which are symmetrically arranged, the driven bevel gear set comprises two driven bevel gears which are symmetrically arranged, the two driving bevel gears are respectively connected with a first large synchronous wheel and a second large synchronous wheel through a speed reducer, the first small synchronous belt pulley and the second small synchronous belt pulley are connected with the first large synchronous wheel and the second large synchronous wheel through the synchronous belts, the two driving bevel gears are respectively meshed with the two driven bevel gears, the first large synchronizing wheel, the second large synchronizing wheel, the speed reducer and the two driving bevel gears are arranged on the first support shaft, the two driven bevel gears are arranged on the second support shaft, the driven bevel gears are fixedly connected with the connecting disc, one connecting disc is fixedly connected with one end of the output connecting rod, the other end of the output connecting rod is connected with the flange disc, the flange disc is sleeved on the second support shaft, and the flange disc is tightly attached to the connecting disc; when the two bevel gears of the driving bevel gear set rotate in the same direction at the same speed, the output connecting rod and the driven bevel gear set rotate around the first support shaft together to perform pitching motion relative to the thousand support; when two bevel gears of the driving bevel gear set rotate in the same speed and different directions, the output connecting rod rotates around the second support shaft and moves in a deflection way relative to the bracket; when the two bevel gears of the driving bevel gear set rotate at different speeds, the output connecting rod rotates around the first support shaft together with the driven bevel gear set to perform pitching motion relative to the support, and simultaneously rotates around the second support shaft to perform deflection motion relative to the support.
Preferably, the support comprises a body, two cavities are formed in the body, the first power source and the second power source are respectively placed in the cavities, a pair of lantern rings extends from the body, the lantern rings are fixedly connected with the shell, a groove is formed in the shell, a speed reducer is installed in the groove, a flexible gear ring of the speed reducer is connected with the driving bevel gear, and power is sequentially transmitted to the speed reducer and the driving bevel gear through the large synchronizing wheel.
Preferably, the crisscross shaft includes a first support block and a second support block, the first support shaft extends from two sides of the first support block, the second support shaft extends from two sides of the second support block, and the first support shaft and the second support shaft are provided with through holes.
Preferably, the first supporting block and the second supporting block are block-shaped structures and are connected through fasteners.
Preferably, the differential structure is located in the supporting cylinder, and supporting pieces extend from two sides of the first supporting block and are fixedly pressed in the supporting cylinder.
Preferably, the motor positions of the first power source and the second power source are frameless motors, and the frameless motors are provided with hall and magnetic encoders.
In the invention, the output bearing is mostly installed on the cross shaft through the shell in the prior art, a cross shaft assembly is adopted, the assembly is split into 5 parts so as to be convenient to process, and the spigot is used for ensuring the coaxiality and the verticality. Compared with the prior art, the precision of the standard mode is high, and the shell of the bevel gear rack is easy to disassemble and assemble and is convenient for maintaining the bevel gear.
Has the advantages that: the invention relates to a two-degree-of-freedom differential mechanical arm joint module, which adopts a synchronous belt scheme, wherein a synchronous belt can eliminate a gap and is arranged in front of a speed reducer (namely a motor-the synchronous belt-the speed reducer). In the same way, assuming that the reduction ratio of the speed reducer is 100, the error can be reduced by 100 times theoretically by adopting the scheme of motor-synchronous belt-speed reducer, and in addition, compared with gear transmission, the synchronous belt transmission has the advantage of light weight; aiming at the problem that a cross shaft bears a strong load, completely different shaft system structures are adopted, a bevel gear is installed on a support through a bearing, and the shaft system is completely suspended and does not bear any torque; aiming at the problem of low precision, an encoder is added on an output gear, and wires are routed through a hollow cross shaft; for compactness, the motor uses a frameless motor, is provided with two sets of encoders, namely a Hall encoder and a magnetic encoder, and is provided with a band-type brake, so that when the motor does not work, a motor shaft can be locked, the robot keeps the same posture, the motor shaft is longer, one end of the motor shaft outputs (through a synchronous belt pulley), and the other end of the motor shaft is connected with the band-type brake and the magnetic encoder. Meanwhile, the servo driver is also integrated on the module.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of the present invention without a stent.
Fig. 3 is a structural schematic diagram of the stent.
Fig. 4 is a schematic diagram of a differential structure.
Fig. 5 is a schematic structural view of the first support shaft.
In the figure: 1, a bracket; 2 a first small synchronizing wheel; 3 a first large synchronizing wheel; 4, a wheel cover; 5, a shell; 6 an output connecting rod; 7 supporting the cylinder; 8 motor driver; 9 driving bevel gears; 10 a driven bevel gear; 11 connecting discs; 12 a regulating wheel; 13 a first support shaft; 14 a second support shaft; 15 a first support block; 16 a second support block; 17 a support member.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the two-degree-of-freedom differential mechanical arm joint module of the present invention mainly includes a support 1, a first power source, a second power source, two sets of belt conveyors, two driving bevel gears 9, two driven bevel gears 10, a cross shaft, and an output link 6.
The first power source and the second power source are identical and are driven by an electric driver. The first power source and the second power source respectively contain motors, the motors are frameless, motor housings 5 are sleeved outside the motors, the motor housings 5 are fixed in the support 1, and the bottoms of the motors are connected with the support 1 through band-type brake structures. Support 1 contains the body, is equipped with two cavities on the body, and in the cavity was placed respectively to first power supply and second power supply, it had a pair of lantern rings to extend on the body. The motor is provided with two sets of encoders which are respectively a Hall encoder and a magnetic encoder, the motor shaft is longer, the end part of the motor shaft is connected with a small synchronizing wheel, and the bottom of the motor is connected with a band-type brake and the magnetic encoder.
In the invention, the first small synchronizing wheel 2 and the first large synchronizing wheel 3 are connected with the second small synchronizing wheel and the second large synchronizing wheel through synchronous belts, and the bracket is provided with an adjusting wheel 12 for adjusting the tightness of a belt. The bracket is provided with a support. A pair of lantern rings of support 1 respectively with casing 5 fixed connection, be equipped with the recess on casing 5, the recess is the ladder groove, installs the reduction gear in the recess, the reduction gear passes through wheel casing 4 to be fixed in casing 5, the rigidity part and the casing 5 fixed connection of reduction gear, the flexible ring gear of reduction gear is connected with the connecting piece of drive bevel gear 9, power transmits reduction gear and drive bevel gear 9 through big synchronizing wheel in proper order. The driving bevel gear 9 is fixedly connected with a connecting piece, and the connecting piece is arranged in the sleeve ring through a bearing.
In the invention, the crisscross shaft comprises a first support block 15 and a second support block 16, a first support shaft 13 extends from two sides of the first support block 15, a second support shaft 14 extends from two sides of the second support block 16, and the first support shaft 13 and the second support shaft 14 are provided with through holes. Because first support shaft and second support shaft are the hollow shaft, can walk the line in the hollow shaft, can set up the encoder on driven bevel gear, detect out the angle of actual output end, the error of transmission structure can detect out. During manufacturing, the first supporting block 15 and the second supporting block 16 are preferably formed after being processed respectively. The crossed shaft can also be integrally formed by adopting an integral processing method, so that the first supporting shaft 13 and the second supporting shaft 14 are provided with through holes inside. When the first supporting block 15 and the second supporting block 16 are separately processed, the first supporting block 15 and the second supporting block 16 are processed into a planar structure, the precision can meet the requirement, and the first supporting block 15 and the second supporting block 16 are fixedly connected together through a fastener. The coaxiality and perpendicularity of the first support shaft and the second support shaft are ensured by the first support block 15 and the second support block 16.
In the invention, a first large synchronizing wheel 3, a harmonic reducer, two driving bevel gears 9, another harmonic reducer and a second large synchronizing wheel are sequentially sleeved on a first support shaft 13, the first large synchronizing wheel 3 and the second large synchronizing wheel are arranged on the first support shaft 13 through bearings and are fixed through bearing covers, and the bearing covers are of a hoop structure. The two driving bevel gears 9 and the two driven bevel gears 10 are both mounted on the crossed shaft through bearings which are thin-walled bearings, and the radial size of the whole structure can be reduced.
In the invention, the output connecting rod 6 is in a U-shaped structure, can be made by bending a sheet metal part and can also be formed by machining. The connecting disc 11 is connected with the driven bevel gear 10 and the output connecting rod 6 through fasteners, and the U-shaped output connecting rod 6 plays a role of pressing the driven bevel gear 10 at the same time. The top of support piece 17 is the arc structure, installs the fixed block in a support section of thick bamboo 7, and fixed block and support piece 17 fixed connection play the effect of fixed whole cross axle. The supporting cylinder 7 is of a thin-wall structure and mainly has a protection differential structure. And a secondary encoder is arranged on the driven bevel gear 10 and used for testing the output angle.
When the output connecting rod mechanism works, the motor driver 8 drives the motor to rotate, the motor rotates to drive the first small synchronizing wheel 2 and the second small synchronizing wheel to rotate, the large synchronizing wheel is driven to rotate through the synchronous belt, the large synchronizing wheel is simultaneously connected with the speed reducer, the speed reducer drives the driving bevel gear 9 to rotate, the driving bevel gear 9 drives the driven bevel gear 10 to rotate, and therefore the output connecting rod 6 is driven to rotate. When the two bevel gears of the driving bevel gear 9 group rotate in the same direction at the same speed, the output connecting rod 6 and the driven bevel gear 10 group rotate around the first support shaft 13 together to perform pitching motion relative to the thousand support 1; when two bevel gears of the driving bevel gear 9 group rotate in different directions at a constant speed, the output connecting rod 6 rotates around the second supporting shaft 14 and moves in a deflection way relative to the bracket 1; when the two bevel gears of the drive bevel gear 9 group rotate at different speeds, the output link 6 rotates around the first support shaft 13 together with the driven bevel gear 10 group to perform a pitching motion relative to the carrier 1, and simultaneously rotates around the second support shaft 14 to perform a yawing motion relative to the carrier 1.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110068907.1A CN112894783A (en) | 2021-01-19 | 2021-01-19 | Two-degree-of-freedom differential mechanical arm joint module |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110068907.1A CN112894783A (en) | 2021-01-19 | 2021-01-19 | Two-degree-of-freedom differential mechanical arm joint module |
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| CN112894783A true CN112894783A (en) | 2021-06-04 |
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| CN202110068907.1A Pending CN112894783A (en) | 2021-01-19 | 2021-01-19 | Two-degree-of-freedom differential mechanical arm joint module |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843775A (en) * | 2021-09-30 | 2021-12-28 | 达闼机器人有限公司 | Double-freedom-degree actuator, mechanical arm and robot |
| CN113843772A (en) * | 2021-09-30 | 2021-12-28 | 达闼机器人有限公司 | Anti-twisting actuator, mechanical arm and robot |
| CN114670237A (en) * | 2022-03-25 | 2022-06-28 | 复旦大学 | High-load and high-flexibility robot joint |
| CN117381846A (en) * | 2022-07-05 | 2024-01-12 | 苏州艾利特机器人有限公司 | Power assembly of compact mechanical arm |
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| CN117381846A (en) * | 2022-07-05 | 2024-01-12 | 苏州艾利特机器人有限公司 | Power assembly of compact mechanical arm |
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