CN215037618U - Two-degree-of-freedom compact tendon transmission joint module - Google Patents
Two-degree-of-freedom compact tendon transmission joint module Download PDFInfo
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- CN215037618U CN215037618U CN202121230749.7U CN202121230749U CN215037618U CN 215037618 U CN215037618 U CN 215037618U CN 202121230749 U CN202121230749 U CN 202121230749U CN 215037618 U CN215037618 U CN 215037618U
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Abstract
The utility model discloses a two degree of freedom compact tendon transmission joint modules, include: 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 lateral swinging freedom degree are orthogonal, so that the spatial position is more easily calculated and the control is convenient, the left arm pitching control wheel is of a hollow structure, the left arm cross shaft penetrates through the hollow part of the left arm control wheel, and the movable connecting part of the left arm cross shaft and the first supporting arm and the second supporting arm of the left arm is positioned in the hollow part of the pitching control wheel, so that the movable connecting part of the cross shaft and the first supporting arm and the second supporting arm is positioned in the pitching control wheel, and the overall spatial size is saved.
Description
Technical Field
The utility model belongs to the mechanism field of robot, concretely relates to two degree of freedom compact tendon transmission joint modules.
Background
The robot dexterous hand is a high-tech automatic production device developed in recent decades, can accurately complete various expected operations in various environments through control, has the advantages of both people and machines in structure and performance, embodies the intelligence and adaptability of people, and is suitable for being widely applied to various fields. However, the dexterous hand has more joints and a more complex internal structure, and some transmission parts (such as power pulleys or control wheels) need to be made larger in order to ensure that the transmission force arm is large enough, so that the overall mass and the volume are difficult to reduce, and further, the orthogonal of all freedom degree axes is difficult to realize, the motions with different degrees of freedom are coupled, the control difficulty is increased, and the control system is more complex.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a two degrees of freedom compact tendon transmission joint module, two degrees of freedom compact tendon transmission joint module adopts modular design, and the size is compact, and its every single move degree of freedom and sidesway degree of freedom axis quadrature make these two mutual decoupling zero of degree of freedom, and spatial position is resolved and control is simplified relatively.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
two degree of freedom compact tendon transmission joint modules, its 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;
the pitching control wheel is fixedly connected in the pitching pendulum block, the pitching control wheel is of a hollow structure, a longitudinal shaft of the cross shaft is positioned at the inner side of the pitching control wheel, two transverse shaft ends of the cross shaft are movably connected with corresponding ends of the pitching pendulum block, the first support arm and the second support arm are movably arranged at two ends of the longitudinal shaft of the cross shaft, and movable connecting parts of the cross shaft and the first support arm and the second support arm are positioned in the pitching control wheel;
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 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 lateral swing transmission tendon, the lateral swing control wheel drives the cross shaft, the pitching swing block and the pitching control wheel to perform lateral swing movement integrally.
In one embodiment, the side swing control wheel is divided into a left swing control wheel and a right swing control wheel, the left swing control wheel and the right swing control wheel are fan-shaped, the left swing control wheel and the right swing control wheel can be independently processed, installed and debugged conveniently, space is saved relative to the whole circumference, and the side swing transmission tendons are divided into two parts which are respectively wound and fixedly connected with the left swing control wheel and the right swing control wheel. The advantages are further space saving and easy processing, assembly and debugging.
In one embodiment, the left and right pendulum control wheels are distributed centrally symmetrically about the cross point of the spider. That is, the left pendulum control wheel and the right pendulum control wheel are respectively located on the upper side and the lower side of the cross axle (who is not limited above and below), so that the eccentric moments above and below can be weakened or even offset, and the eccentric moments caused by transmission are reduced.
In one embodiment, the pitching pendulum block comprises a left side arm, a right side arm and a reference plate, wherein two ends of the reference plate are respectively connected with the left side arm and the right side arm, the middle part of the reference plate is positioned at one side of the cross shaft and is provided with a mounting interface for the pitching control wheel to be placed in, 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 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. This arrangement is advantageous in that the linear transmission interval for the pitch motion can exceed plus or minus 90 °.
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 mounted at the movable connection 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. The movable connection mode is hinged, and two bearings can be installed at each hinged position, 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 movable connection positions 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 movable joint, 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 attached to the left and/or right side edge (provided with a threaded hole) of the reference plate, and the left and/or right side arm may be pressed against the cross shaft by tightening the set screw, thereby pressing and aligning the bearing therebetween.
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 position where the first support arm and/or the second support arm is hinged with 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 the 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 compact 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 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 utility model has the advantages that: the two-degree-of-freedom compact tendon transmission joint module adopts a modular design, has compact space 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, and the spatial position of the cross shaft is convenient to determine, so that the spatial position of the robot (particularly a dexterous hand) is easier to calculate and is convenient to control; the pitching control wheel is of a hollow structure, so that the overall size is saved; the left pendulum control wheel and the right pendulum control wheel are fan-shaped and are separately constructed, the processing, the assembly and the debugging are easy, and the eccentric moment brought by the transmission force can be reduced by mounting the left pendulum control wheel and the right pendulum control wheel one above the other.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art 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 compact tendon transmission joint module provided by the present invention;
fig. 2 is a schematic view of a bearing position of a two-degree-of-freedom compact tendon transmission joint module according to an embodiment of the present invention;
fig. 3 is an overall schematic view of a two-degree-of-freedom compact tendon transmission joint module according to an embodiment of the present invention;
fig. 4 is a schematic view of a left pendulum control wheel of a two-degree-of-freedom compact tendon transmission joint module according to an embodiment of the present invention;
fig. 5 is a schematic view of a tendon sheath support of a two-degree-of-freedom compact tendon transmission joint module according to an embodiment of the present invention;
fig. 6 is a left rear oblique view of the two-degree-of-freedom compact tendon transmission joint module according to the embodiment of the present invention;
fig. 7 is a rear right oblique view of the two-degree-of-freedom compact tendon transmission joint module according to the embodiment of the present invention;
fig. 8 is an exploded view of the two-degree-of-freedom compact tendon transmission joint module according to the 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 pendulum 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-a 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 described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 8, the embodiment of the present invention discloses a two-degree-of-freedom compact 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;
the pitch control wheel 2 is fixedly connected in the pitch pendulum block, the pitch control wheel 2 is of an internal hollow structure, a longitudinal axis of the cross shaft 1 is positioned at the inner side of the pitch control wheel 2, two transverse shaft ends of the cross shaft 1 are movably connected with corresponding ends of the pitch pendulum block, the first support arm 12 and the second support arm 13 are movably arranged at two ends of the longitudinal axis of the cross shaft 1, and movable connecting parts of the cross shaft 1 and the first support arm 12 and the second support arm 13 are positioned in the pitch control wheel 2;
the pitch transmission tendon part 11 is wound on the pitch control wheel 2, and at least one point on the pitch transmission tendon is fixedly connected with the pitch control wheel 2 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 1;
the side-sway 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.
Compared with the prior art, the two-degree-of-freedom compact tendon transmission joint module adopts a modular design, has compact space and can be flexibly applied to robot joints (particularly the wrist of a dexterous hand); the use of the cross shaft 1 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, and the spatial position of the cross shaft is convenient to determine, so that the spatial position of the robot (particularly a dexterous hand) is easier to calculate and is convenient to control; the pitch control wheel 2 is of a hollow structure, so that the movable connection parts of the cross shaft 1 and the first support arm 12 and the second support arm 13 are positioned in the pitch control wheel 2, and the overall size is saved.
The cross shaft 1 is movably connected with the first support arm 12, the second support arm 13, the left arm and the right arm by a shaft joint, a hinge joint and the like. In the present embodiment, as shown in fig. 1, the connection between the cross shaft 1 and the first/second support arm and the left/right side arm is realized in an articulated manner in the two-degree-of-freedom compact tendon transmission joint module.
In one embodiment, as shown in fig. 1, the pitching 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 base 14 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, and can be directly or through a connecting piece connected to a small arm module or a mechanical arm. In this embodiment, the ends of the first support arm 12 and the second support arm 13 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 a 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.
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 support arm 12 and the second support arm 13 are hollow in the pitch control wheel 2, so that the layout among the pitch control wheel 2, the cross shaft 1, the first support arm 12 and the second support arm 1 is compact, the structure saves the whole space size, and simultaneously, the diameter of the pitch control wheel can be ensured to be larger, so that the dynamic arm is larger.
Referring to fig. 1 and 3, the pitch control wheel 2 is provided with two wire grooves along the outer circumference thereof, and the pitch transmission tendons 11 are divided into two parts, 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.
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. Specifically, referring to fig. 3 and fig. 4, the left pendulum control wheel 7 and the right pendulum control wheel 8 are respectively located on the upper side and the lower side of the plane where the two transverse shaft ends of the cross shaft 1 are located (who is not limited above and below), and the advantage is that the upper and lower eccentric moments can be cancelled out, so that 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.
The cross shaft 1 is fixedly connected with a tendon sheath bracket 17, the tendon sheath bracket 17 is used for guiding a tendon sheath of the pitch transmission tendon 11, and the tendon sheath bracket 17 can perform side-swinging movement along 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. Specifically, as shown in fig. 3, 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 a bolt, and the upper part of the tendon sheath bracket is provided with a tendon sheath fixing slot and a pressing cover; during installation, 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 pressing 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 articulation, for example, radially unloaded using deep groove ball bearings 5 and axially unloaded using thrust bearings 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-hand arm 18 and/or the right-hand arm 3 has at least one centering device for adjusting assembly play, such as a pressure 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 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, compressing the bearing (which can be implemented by a set screw, and the principle is similar to the foregoing without being described in detail).
Referring to fig. 8, a pitch angle sensor 15 is installed 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 mounted 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 and 3, the pitch angle sensor 15 and/or the yaw angle sensor 19 may be secured 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 compact 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 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 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 (10)
1. Two degree of freedom compact tendon transmission joint modules, its 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;
the pitching control wheel is fixedly connected in the pitching pendulum block, the pitching control wheel is of a hollow structure, a longitudinal shaft of the cross shaft is positioned at the inner side of the pitching control wheel, two transverse shaft ends of the cross shaft are movably connected with corresponding ends of the pitching pendulum block, the first support arm and the second support arm are movably arranged at two ends of the longitudinal shaft of the cross shaft, and movable connecting parts of the cross shaft and the first support arm and the second support arm are positioned in the pitching control wheel;
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 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 lateral swing transmission tendon, the lateral swing control wheel drives the cross shaft, the pitching swing block and the pitching control wheel to perform lateral swing movement integrally.
2. The two-degree-of-freedom compact tendon transmission joint module according to claim 1, wherein the side-sway control wheel is divided into a left-sway control wheel and a right-sway control wheel, both the left-sway control wheel and the right-sway control wheel are fan-shaped, and the side-sway transmission tendon is divided into two, and respectively wound around and fixedly connected to the left-sway control wheel and the right-sway control wheel.
3. The two degree-of-freedom compact tendon transmission joint module of claim 2 in which the left pendulum control wheel and the right pendulum control wheel are distributed centrosymmetrically about the cross point of the cross-axis.
4. The two-degree-of-freedom compact tendon transmission joint module according to claim 1, wherein the pitching oscillating block comprises a left side arm, a right side arm and a reference plate with two ends respectively connected with the left side arm and the right side arm, the middle part of the reference plate is arranged at one side of the cross shaft and is provided with an installation interface for the pitching control wheel to be placed in, and the left side arm and the right side arm are hinged to two transverse shaft ends of the cross shaft.
5. The two-degree-of-freedom compact 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 its circumferential side; 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.
6. The two degree-of-freedom compact tendon transmission joint module as claimed in claim 1 wherein the cross shaft has affixed thereto a tendon sheath support for guiding a tendon sheath of a pitch transmission tendon, the tendon sheath support being capable of yaw motion with the cross shaft.
7. A two degree of freedom compact tendon transmission joint module as claimed in any one of claims 1 to 6 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.
8. The two-degree-of-freedom compact tendon transmission joint module according to claim 4, 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 movable connection part of the first support arm and/or the second support arm and the cross shaft.
9. A two degree-of-freedom compact tendon transmission joint module as claimed in any one of claims 1 to 6 in which 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.
10. A two degree of freedom compact tendon transmission joint module as claimed in any one of claims 1 to 6 in which the pitch transmission tendon and/or the yaw transmission tendon is mounted with a tendon force sensor.
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| CN202121230749.7U CN215037618U (en) | 2021-06-03 | 2021-06-03 | Two-degree-of-freedom compact tendon transmission joint module |
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| CN202121230749.7U CN215037618U (en) | 2021-06-03 | 2021-06-03 | Two-degree-of-freedom compact tendon transmission joint module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113352349A (en) * | 2021-06-03 | 2021-09-07 | 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352349A (en) * | 2021-06-03 | 2021-09-07 | 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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