CN113352349B - Two-degree-of-freedom orthogonal tendon transmission joint module - Google Patents
Two-degree-of-freedom orthogonal tendon transmission joint module Download PDFInfo
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- CN113352349B CN113352349B CN202110617997.5A CN202110617997A CN113352349B CN 113352349 B CN113352349 B CN 113352349B CN 202110617997 A CN202110617997 A CN 202110617997A CN 113352349 B CN113352349 B CN 113352349B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention discloses a two-degree-of-freedom orthogonal tendon transmission joint module, which comprises: the device comprises a cross shaft, a pitching control wheel, a pitching swinging block, a side swinging control wheel, a pitching transmission tendon, a side swinging transmission tendon, a first supporting arm and a second supporting arm; the modularized design is adopted, the space is compact, and the device can be flexibly applied to robot joints, particularly wrists of dexterous hands; and the axes of the pitching freedom degree and the side swinging freedom degree are orthogonal, so that the space position is easier to calculate and is convenient to control.
Description
Technical Field
The invention belongs to the field of mechanisms of robots, and particularly relates to a two-degree-of-freedom orthogonal tendon transmission joint module.
Background
The robot system (especially a dexterous hand) often has a lot of joints, if each joint modularization, standardized processing, debugging, maintenance are convenient for, can also assemble the integration according to the demand betterly. In addition, the axes of the pitch freedom degree and the lateral swing freedom degree of the wrist joint of the conventional dexterous hand are not orthogonal, so that the two degrees of freedom are coupled with each other, and the space position calculation and control are relatively complex.
Disclosure of Invention
In order to solve the problems, the invention provides a two-degree-of-freedom orthogonal tendon transmission joint module which is in a modular design and compact in size, and the axes of the pitching freedom degree and the yawing freedom degree of the two-degree-of-freedom orthogonal tendon transmission joint module are orthogonal, so that the two degrees of freedom are decoupled mutually, and the calculation and the control of the spatial position are relatively simplified.
In order to achieve the purpose, the invention adopts the following technical scheme:
two degree of freedom orthogonal tendon transmission joint modules include: the method comprises the following steps: the device comprises a cross shaft, a pitching control wheel, a pitching swinging block, a side swinging control wheel, a pitching transmission tendon, a side swinging transmission tendon, a first supporting arm and a second supporting arm;
two transverse shaft ends of the cross shaft are hinged with corresponding ends of the pitching swinging block, and the first supporting arm and the second supporting arm are respectively hinged at two ends of a longitudinal shaft of the cross shaft;
the pitch transmission tendon is partially wound on the pitch control wheel, and at least one point on the pitch transmission tendon is fixedly connected with the pitch control wheel and/or the pitch pendulum block;
the side pendulum transmission tendon is partially wound on the side pendulum control wheel, and at least one point on the side pendulum transmission tendon is fixedly connected with the side pendulum control wheel and/or the cross shaft;
the pitching control wheel is fixedly connected with the pitching oscillating block;
the side sway control wheel is fixedly connected with the cross shaft;
when power is applied to the pitching transmission tendon, the pitching control wheel drives the pitching oscillating block to perform pitching motion (namely to rotate along the pitching degree of freedom);
when power is applied to the sidesway transmission tendon, the sidesway control wheel drives the cross shaft, the pitching oscillating block and the pitching control wheel to carry out sidesway movement (namely, rotate along the sidesway freedom degree) on the whole.
In one embodiment, the pitching oscillating block comprises a left side arm, a right side arm and a reference plate, two end portions of the reference plate are respectively connected with the left side arm and the right side arm, a mounting interface for the pitching control wheel to be placed in is arranged in the middle of the reference plate and located on one side of the cross shaft, and the left side arm and the right side arm are hinged to two transverse shaft ends of the cross shaft.
In one embodiment, the pitching control wheel is of a hollow structure, the cross shaft penetrates through the hollow part of the pitching control wheel, and the hinged parts of the cross shaft and the first support arm and the second support arm are arranged in the hollow part of the pitching control wheel.
In one embodiment, the pitch control wheel has a plurality of wire grooves, the pitch transmission tendons are arranged in one-to-one correspondence with the wire grooves, each pitch transmission tendon is partially wound around the corresponding wire groove, and at least 1 tendon fixing point is respectively arranged on the pitch control wheel or the pitch pendulum block. Advantageously, the linear transmission range of the pitch motion may exceed plus or minus 90 °.
In one embodiment, the side-sway control wheel is divided into a left-sway control wheel and a right-sway control wheel, the left-sway control wheel and the right-sway control wheel are both fan-shaped, can be independently processed, and are convenient to mount and debug, and the space is saved relative to the whole circumference, and the side-sway transmission tendons are divided into two and are respectively wound on and fixedly connected with the left-sway control wheel and the right-sway control wheel. The advantages are further saving space and easy processing, assembling and debugging.
In one embodiment, the left pendulum control wheel and the right pendulum control wheel are distributed centrosymmetrically around the cross point of the cross shaft.
In one embodiment, the spider is affixed with a tendon sheath support for guiding a tendon sheath of a pitch drive tendon, the tendon sheath support being capable of lateral pendulum movement with the spider.
In one embodiment, bearings are installed at the hinged positions of the left side arm and the right side arm of the pitching oscillating block and two transverse shaft ends of the cross shaft. Two bearings can be installed at each hinge, for example, radial unloading is carried out by adopting a deep groove ball bearing, and axial unloading is carried out by adopting a thrust bearing.
In one embodiment, bearings are mounted at the joints of the two longitudinal shaft ends of the cross shaft and the first supporting arm and the second supporting arm. Two bearings can be installed at each hinge, for example, radial unloading is carried out by adopting a deep groove ball bearing, and axial unloading is carried out by adopting a thrust bearing.
In one embodiment, the left side arm, the right side arm and the reference plate of the pitching oscillating block are independent parts, and the pitching oscillating block is assembled to form the pitching oscillating block, so that the processing, assembly and debugging are facilitated.
In one embodiment, the left side arm and/or the right side arm has at least one centering device for adjusting the assembly clearance and pressing the bearing. For example, a set screw may be installed on the left side edge and/or the right side edge (provided with a threaded hole) of the reference plate, and the left side arm and/or the right side arm may be pressed against the cross shaft by tightening the set screw, so that the bearing therebetween is pressed and aligned.
In one embodiment, the first and/or second support arm has at least one centering device for adjusting the assembly gap.
In one embodiment, a pitch angle sensor is mounted at the position where the left side arm and/or the right side arm is hinged with the cross shaft.
In one embodiment, a yaw angle sensor is mounted at the joint of the first support arm and/or the second support arm and the cross shaft.
In one embodiment, the pitch angle sensor and/or the yaw angle sensor may be secured by a sensor cover, which may also provide protection against water and/or dust and/or radiation and/or corrosion.
In one embodiment, the first support arm and/or the second support arm is coupled with a base, which is mounted with a drive pulley assembly for guiding the pitch drive tendon and/or the yaw drive tendon.
In one embodiment, the pitch drive tendon and/or the yaw drive tendon is equipped with a tendon force sensor for measuring the tension on the tendon.
In one embodiment, the reference plate is coupled to a palm portion of a dexterous hand and the base is coupled to a small arm module or robotic arm.
In one embodiment, the two degree of freedom orthogonal tendon transmission joint module may be covered by a flexible cover; for example, the flexible sleeve can be made of rubber, silicon rubber and other materials; the flexible sleeve can play the protection effects of water resistance, dust resistance, corrosion resistance and the like; the flexible sleeve may be added with a coating (e.g., a fluorine-containing material).
The invention has the beneficial effects that: the two-degree-of-freedom orthogonal tendon transmission joint module adopts a modular design and can be flexibly applied to robot joints (particularly wrists of dexterous hands); the use of the cross shaft enables the axes of the pitching freedom degree and the side-sway freedom degree to be orthogonal, so that the pitching motion and the side-sway motion are relatively decoupled, the spatial position of the cross shaft is convenient to determine, and the spatial position of the robot (especially a dexterous hand) is easier to calculate and convenient to control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of a joint core structure of a two-degree-of-freedom orthogonal tendon transmission joint module provided by the invention;
FIG. 2 is a schematic view of the bearing position of a two-degree-of-freedom orthogonal tendon transmission joint module in an embodiment of the present invention;
FIG. 3 is a schematic overall view of a two-degree-of-freedom orthogonal tendon transmission joint module in an embodiment of the invention;
FIG. 4 is a schematic view of a left pendulum control wheel of a two-degree-of-freedom orthogonal tendon transmission joint module in an embodiment of the present disclosure;
FIG. 5 is a schematic view of a tendon sheath support of a two-degree-of-freedom orthogonal tendon transmission joint module in an embodiment of the present invention;
FIG. 6 is a rear left oblique view of a two-degree-of-freedom orthogonal tendon transmission joint module in an embodiment of the present invention;
FIG. 7 is a rear right oblique view of a two-degree-of-freedom orthogonal tendon transmission joint module in an embodiment of the present invention;
FIG. 8 is an exploded view of a two degree of freedom orthogonal tendon drive joint module in an embodiment of the present invention.
Reference numerals:
1-a cross shaft; 2-a pitch control wheel; 3-a right side arm; 4-a reference plate; 5-deep groove ball bearing; 6-a thrust bearing; 7-left pendulum control wheel; 8-right swing control wheel; 9-a drive pulley assembly; 10-side pendulum drive tendon; 11-pitch drive tendons; 12-a first support arm; 13-a second support arm; 14-a base; 15-pitch angle sensor; 16-a sensor cover; 17-tendon sheath stent; 18-left side arm; 19-yaw angle sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 8, an embodiment of the present invention discloses a two-degree-of-freedom orthogonal tendon transmission joint module, including: the device comprises a cross shaft 1, a pitch control wheel 2, a pitch swing block, a yaw control wheel, a pitch transmission tendon 11, a yaw transmission tendon 10, a first support arm 12, a second support arm 13 and a base 14.
Two transverse shaft ends of the cross shaft 1 are hinged with corresponding ends of the pitching swinging blocks, and the first supporting arm 12 and the second supporting arm 12 are respectively hinged at two ends of a longitudinal shaft of the cross shaft;
at least one point on the pitch transmission tendon 11 is fixedly connected with the pitch control wheel 2, at least one point on the lateral pendulum transmission tendon 10 is fixedly connected with the lateral pendulum control wheel, and the lateral pendulum control wheel is fixedly connected with the cross shaft 1;
the pitching control wheel 2 is fixedly connected with the pitching pendulum block;
the lateral swing control wheel is fixedly connected with the cross shaft 1;
when power is applied to the pitch transmission tendon 11, the pitch control wheel 2 drives the pitch pendulum block to perform pitch motion (namely, to rotate along the pitch degree of freedom);
when power is applied to the yaw transmission tendon 10, the yaw control wheel drives the cross shaft 1, the pitch pendulum block and the pitch control wheel 2 to perform yaw movement (i.e. rotate along the yaw degree of freedom) integrally.
The scheme shows that the two-degree-of-freedom orthogonal tendon transmission joint module adopts a modular design and can be flexibly applied to robot joints (particularly wrists of dexterous hands); the use of the cross shaft enables the axes of the pitching freedom degree and the side swinging freedom degree to be orthogonal, so that the pitching motion and the side swinging motion are relatively decoupled, the space position of the cross shaft is convenient to determine, and the space position of the robot (especially a dexterous hand) is easier to calculate and is convenient to control.
In one embodiment, the pitch pendulum block comprises a left arm 18, a right arm 3 and a reference plate 4 for connecting the left arm 18 and the right arm 3, which are arranged at both lateral ends of the cross-shaft. The reference plate 4 is attached to the palm portion of the dexterous hand. The pitch control wheel 2 is fixedly connected to the pitch pendulum block (in this embodiment, the circumferential front end portion of the pitch control wheel 2 is fixedly connected to the reference plate 4 of the pitch pendulum block), the pitch pendulum block is hinged to two lateral shaft ends of the cross shaft 1 through the left side arm 18 and the right side arm 3, and two longitudinal shaft ends of the cross shaft 1 are respectively hinged to the first support arm 12 and the second support arm 13. The first support arm 12 and the second support arm 13 may be coupled to a small arm module or a robot arm directly or through a connecting member. In this embodiment, the ends of the first support arm 12 and the second support arm 13 facing away from the tilt block are respectively fixedly connected to the base 14, and the base 14 is connected to a small arm module or a mechanical arm. According to the scheme, the reference plate 4 provides an installation interface and an adjustment reference for the palm part of the dexterous hand, the left side arm 18, the right side arm 3 and the pitching control wheel 2, so that the relative positions of all parts are easy to adjust according to the machining condition (tolerance) and are in close fit; similarly, the base 14 also functions similarly to the first support arm 12, the second support arm 13, the small arm module or the robot arm.
In another embodiment, the pitch control wheel 2 can be further positioned on the left side arm 18 or the right side arm 3 to avoid the central part of the inner side of the pitch pendulum block, so as to make room.
Referring to fig. 1 and 3, the pitch control wheel 2 is of a hollow structure, the cross shaft 1 penetrates through the hollow part of the pitch control wheel, and the hinged parts of the cross shaft 1 and the first and second support arms 12 and 13 are hollow in the pitch control wheel 2, so that the layout among the pitch control wheel 2, the cross shaft 1 and the first and second support arms 12 and 13 is compact, and the structure saves the whole space size.
Referring to fig. 1 and 3, the pitch control wheel 2 is provided with two wire grooves along the outer circumference thereof, the pitch transmission tendons 11 are divided into two, respectively wound around the two wire grooves, and respectively provided with at least 1 tendon fixing point with the pitch control wheel 2, so that the linear transmission interval of the pitch motion can exceed plus or minus 90 °.
Referring to fig. 3, 4, 6, 7 and 8, the yaw control wheel is divided into a left yaw control wheel 7 and a right yaw control wheel 8, and the left yaw control wheel 7 and the right yaw control wheel 8 are both fan-shaped. In this embodiment, the left and right pendulum control wheels are provided in a fan-shaped configuration with fan-shaped notches that avoid the cross-shaft circular groove, saving space relative to the entire circumference. In addition, the left and right pendulum control wheels can be provided with fixed ends for fixedly connecting the side pendulum transmission tendons 10, and can be independently processed, and are convenient to install and debug. The side pendulum transmission tendons 10 are divided into two parts, and are respectively wound and fixedly connected with the left pendulum control wheel 7 and the right pendulum control wheel 8. Of course, in other embodiments, the side pendulum drive tendon may have only 1 tendon, and may even form a tendon fixing point with the cross shaft.
In one embodiment, the left pendulum control wheel 7 and the right pendulum control wheel 8 are distributed centrally symmetrically around the cross point of the cross shaft 1. Referring to fig. 3 and 4 in particular, the left pendulum control wheel 7 and the right pendulum control wheel 8 are respectively located on the upper side and the lower side (who is not limited to the upper side and the lower side) of the plane where the two transverse shaft ends of the cross shaft 1 are located, so that the eccentric moments of the upper side and the lower side can be balanced out, and the eccentric moment caused by transmission is reduced.
In another embodiment, the left pendulum control wheel 7 and/or the right pendulum control wheel 8 may be integrated with the cross shaft 1.
Referring to fig. 1, a tendon-sheath bracket 17 is fixedly connected to the cross shaft 1, the tendon-sheath bracket 17 is used for guiding a tendon sheath of the pitch drive tendon 11, and the tendon-sheath bracket 17 can perform lateral swinging movement with the cross shaft 1. In this embodiment, the upper and lower sides of the cross shaft 1 are respectively and fixedly connected with a tendon sheath support 17. The tendon sheath bracket 17 is of an L-shaped structure, the bottom of the tendon sheath bracket is a stable plane, the tendon sheath bracket is connected with the cross shaft 1 through bolts, and the upper part of the tendon sheath bracket is provided with a tendon sheath fixing clamping groove and a pressing cover; when the clamping cover is installed, one end of the tendon sheath (generally, a tendon sheath fixing element is coaxially arranged at the tail end of the tendon sheath) is clamped into the tendon sheath fixing clamping groove, and then the clamping cover is fastened above the tendon sheath fixing clamping groove through a bolt. The advantage of this configuration is that the position of tendon sheath can be always aligned with the wire groove of pitch control wheel 2, and its form and position relation is not influenced by the sidesway motion, and the transmission is stable and reliable.
Referring to fig. 2, bearings are installed at the hinged positions of the left side arm 18 and the right side arm 3 of the pitch pendulum block and two transverse shaft ends of the cross shaft 1. Two bearings can be installed at each articulation, for example, radially unloaded using deep groove ball bearings 5 and axially unloaded using thrust bearings 6.
Referring to fig. 2, bearings are mounted at the joints of the two longitudinal shaft ends of the cross shaft 1 and the first support arm 12 and the second support arm 13. Two bearings can be installed at each hinge, for example, radial unloading is performed by using a deep groove ball bearing 5, and axial unloading is performed by using a thrust bearing 6.
Referring to fig. 1 and 2, the left arm 18, the right arm 3, and the reference plate 4 of the pitching oscillating block are independent parts, and are assembled to form the pitching oscillating block, which is convenient for machining, assembling and debugging.
The left arm 18 and/or the right arm 3 has at least one centering device for adjusting the assembly gap and for pressing the bearing. For example, a set screw may be installed on the left side edge and/or the right side edge (provided with a threaded hole) of the reference plate, and the left side arm and/or the right side arm may be pressed against the spider by tightening the set screw, so as to press and center the bearing therebetween (see two threaded holes on the side surface of the reference plate 4 in fig. 1).
The first support arm 12 and/or the second support arm 13 have at least one centering device for adjusting the assembly gap, pressing the bearing (which may be implemented by a set screw, and the principle similar to the foregoing description is not repeated).
Referring to fig. 3 and 8, a pitch angle sensor 15 is mounted at the hinged position of the left side arm 18 and/or the right side arm 3 and the cross shaft 1.
Referring to fig. 3 and 8, a yaw angle sensor 19 is installed at the joint of the first support arm 12 and/or the second support arm 13 and the cross shaft 1.
Referring to fig. 1, 3 and 8, the pitch angle sensor 15 and/or the yaw angle sensor 19 may be fastened by a sensor cover 16, and the sensor cover 16 may also provide protection against water and/or dust and/or radiation and/or corrosion.
In one embodiment, the lead wires of the pitch angle sensor 15 and/or the yaw angle sensor 19 may be routed along the first support arm 12 and/or the second support arm 13 or through a cavity inside the first support arm 12 and/or the second support arm 13.
Referring to fig. 3, the base 14 is mounted with a drive pulley assembly 9 for guiding the pitch drive tendon 11 and/or the yaw drive tendon 10.
The pitch drive tendon 11 and/or the yaw drive tendon 10 are/is provided with a tendon force sensor for measuring the tension on the tendon.
In one embodiment, the two degree of freedom orthogonal tendon driven joint module may be covered by a flexible cover; for example, the flexible sleeve can be made of rubber, silicon rubber and other materials; the flexible sleeve can achieve the protection effects of water resistance, dust resistance, corrosion resistance and the like; the flexible sleeve may be added with a coating (e.g., a fluorine-containing material).
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. Two degree of freedom orthogonal tendon transmission joint modules, characterized in that includes: the device comprises a cross shaft, a pitching control wheel, a pitching swinging block, a side swinging control wheel, a pitching transmission tendon, a side swinging transmission tendon, a first supporting arm and a second supporting arm;
two transverse shaft ends of the cross shaft are hinged with corresponding ends of the pitching swinging block, the pitching swinging block comprises a left side arm and a right side arm, and the pitching swinging block is hinged with the two transverse shaft ends of the cross shaft through the left side arm and the right side arm; the first supporting arm and the second supporting arm are respectively hinged at two ends of a longitudinal shaft of the cross shaft;
the pitch transmission tendon is partially wound on the pitch control wheel, and at least one point on the pitch transmission tendon is fixedly connected with the pitch control wheel and/or the pitch pendulum block;
the side pendulum transmission tendon is partially wound on the side pendulum control wheel, and at least one point on the side pendulum transmission tendon is fixedly connected with the side pendulum control wheel and/or the cross shaft;
the pitching control wheel is fixedly connected with the pitching oscillating block;
the side-sway control wheel is fixedly connected with the cross shaft;
when power is applied to the pitching transmission tendon, the pitching control wheel drives the pitching oscillating block to perform pitching motion;
when power is applied to the sidesway transmission tendon, the sidesway control wheel drives the cross shaft, the pitching oscillating block and the pitching control wheel to perform sidesway movement integrally.
2. The two-degree-of-freedom orthogonal tendon drive joint module of claim 1, wherein the pitch pendulum block further comprises a reference plate having two end portions respectively connected to the left side arm and the right side arm, and a mounting interface for the pitch control wheel to be inserted is disposed at one side of the cross shaft in the middle of the reference plate.
3. The two-degree-of-freedom orthogonal tendon transmission joint module of claim 2, wherein the pitch control wheel is of a hollow structure, the cross shaft is arranged in the hollow part of the pitch control wheel in a penetrating manner, and the hinged part of the cross shaft and the first support arm and the second support arm is arranged in the hollow part of the pitch control wheel; the left side arm and/or the right side arm is provided with at least one aligning device.
4. The two-degree-of-freedom orthogonal tendon transmission joint module according to claim 1, wherein the outer surface of the pitch control wheel is provided with a plurality of wire grooves along the circumferential side thereof; the pitching transmission tendons are arranged in one-to-one correspondence with the wire guide grooves, and the pitching transmission tendons are partially wound on the corresponding wire guide grooves and respectively provided with at least 1 tendon fixing point with the pitching control wheels or the pitching swinging blocks.
5. The two-degree-of-freedom orthogonal tendon transmission joint module according to claim 1, wherein the yaw control wheel is divided into a left yaw control wheel and a right yaw control wheel, the left yaw control wheel and the right yaw control wheel are both fan-shaped, and the two yaw transmission tendons are respectively wound around and fixedly connected to the left yaw control wheel and the right yaw control wheel.
6. The two-degree-of-freedom orthogonal tendon transmission joint module of claim 5 wherein the left pendulum control wheel and the right pendulum control wheel are centrally symmetric around the cross point of the cross-axis.
7. A two degree-of-freedom orthogonal tendon-driven joint module as claimed in claim 1 wherein the cross-shaft has affixed to it a tendon-sheath support for guiding a tendon sheath of a pitch drive tendon, the tendon-sheath support being capable of yaw movement with the cross-shaft.
8. A two degree of freedom orthogonal tendon transmission joint module as claimed in any one of claims 1 to 7 wherein bearings are provided at the articulation of the pitch pendulum mass with the two lateral shaft ends of the cross and/or at the articulation of the two longitudinal shaft ends of the cross with the first and second support arms.
9. A two degree-of-freedom orthogonal tendon transmission joint module as claimed in claim 2 wherein the first support arm and/or the second support arm has at least one centering device.
10. The two-degree-of-freedom orthogonal tendon-driven joint module according to claim 9, wherein a pitch angle sensor is mounted at the hinged position of the left side arm and/or the right side arm and the cross shaft; and/or a side swing angle sensor is arranged at the hinged position of the first support arm and/or the second support arm and the cross shaft.
11. A two degree-of-freedom orthogonal tendon transmission joint module as claimed in any one of claims 1 to 7 wherein the first and/or second support arm is coupled to a base which mounts a transmission pulley assembly for guiding the pitch and/or yaw transmission tendons.
12. A two degree of freedom orthogonal tendon transmission joint module as claimed in any one of claims 1 to 7 wherein the pitch transmission tendon and/or the yaw transmission tendon is mounted with a tendon force sensor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110617997.5A CN113352349B (en) | 2021-06-03 | 2021-06-03 | Two-degree-of-freedom orthogonal tendon transmission joint module |
| PCT/CN2022/094974 WO2022253072A1 (en) | 2021-06-03 | 2022-05-25 | Two-degree-of-freedom orthogonal tendon transmission joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110617997.5A CN113352349B (en) | 2021-06-03 | 2021-06-03 | Two-degree-of-freedom orthogonal tendon transmission joint module |
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| CN113352349A CN113352349A (en) | 2021-09-07 |
| CN113352349B true CN113352349B (en) | 2023-03-31 |
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| CN202110617997.5A Active CN113352349B (en) | 2021-06-03 | 2021-06-03 | Two-degree-of-freedom orthogonal tendon transmission joint module |
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| CN113352349B (en) * | 2021-06-03 | 2023-03-31 | 深圳忆海原识科技有限公司 | Two-degree-of-freedom orthogonal tendon transmission joint module |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60135196A (en) * | 1983-12-22 | 1985-07-18 | 株式会社安川電機 | Wrist mechanism of industrial robot |
| WO2006072124A1 (en) * | 2004-11-10 | 2006-07-13 | Newsouth Innovations Pty Ltd | A mechanical joint structure |
| JP2008232197A (en) * | 2007-03-16 | 2008-10-02 | Gifu Univ | Guide rail stopper mechanism of three-degree-of-freedom rotation system and application |
| US8467903B2 (en) * | 2009-09-22 | 2013-06-18 | GM Global Technology Operations LLC | Tendon driven finger actuation system |
| JP5954706B2 (en) * | 2012-05-25 | 2016-07-20 | 学校法人 中央大学 | Joint device and link mechanism |
| CN104760054B (en) * | 2015-04-10 | 2016-08-24 | 华北水利水电大学 | The orthogonal Three Degree Of Freedom joint that Pneumatic artificial muscle drives |
| CN105380749B (en) * | 2015-12-17 | 2017-08-22 | 天津工业大学 | A kind of wire rope gearing omnidirectional mechanism for surgical drill |
| CN109176470B (en) * | 2018-09-18 | 2019-09-10 | 北京邮电大学 | A kind of robot arm |
| CN111633669B (en) * | 2019-03-01 | 2022-05-13 | 哈尔滨工业大学 | Modularized three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and control method |
| CN212399653U (en) * | 2020-03-31 | 2021-01-26 | 哈工大机器人（合肥）国际创新研究院 | Joint structure with muscle tension bionic function |
| CN111604935B (en) * | 2020-06-01 | 2021-09-24 | 大连理工大学 | Electromagnetically-driven spherical robot wrist with two degrees of freedom and control method thereof |
| CN215037618U (en) * | 2021-06-03 | 2021-12-07 | 深圳忆海原识科技有限公司 | Two-degree-of-freedom compact tendon transmission joint module |
| CN113352349B (en) * | 2021-06-03 | 2023-03-31 | 深圳忆海原识科技有限公司 | Two-degree-of-freedom orthogonal tendon transmission joint module |
-
2021
- 2021-06-03 CN CN202110617997.5A patent/CN113352349B/en active Active
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- 2022-05-25 WO PCT/CN2022/094974 patent/WO2022253072A1/en active Application Filing
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| CN113352349A (en) | 2021-09-07 |
| WO2022253072A1 (en) | 2022-12-08 |
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