Two-degree-of-freedom rotation flexible differential drive joint module

Abstract

The invention provides a two-degree-of-freedom rotational flexible differential drive joint module. The two-degree-of-freedom rotational flexible differential drive joint module is provided with a framework, an output connecting rod and a differential gear system arranged between the framework and the output connecting rod. The differential drive system is provided with a driving bevel gear set and a driven bevel gear set which are arranged in a coupled manner. One of the driving bevel gear seat and the driven bevel gear set is rotationally connected with the framework, and the other one is connected with the output connecting rod. The driving bevel gear set is provided with a first rotating shaft, the driven bevel gear set is provided with a second rotating shaft, and the straight lines where the two rotating shafts are located perpendicularly interact with each other, so that the output connecting rod and the driven bevel gear set can move together relative to the framework in four directions. According to the two-degree-of-freedom rotational flexible differential drive joint module, two-degree-of-freedom rotation is achieved, and the working space is a half sphere or a part of the half sphere. The two-degree-of-freedom rotational flexible differential drive joint module has the beneficial effects of being compact in structure, capable of providing flexibility and large torque and capable of being applied to the waist, the shoulder, the wrist and the like of a cooperative robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a two-degree-of-freedom rotational flexible differential drive joint module and a differential gear train. The two-degree-of-freedom rotary flexible differential drive joint module of the present invention is a robot rotary joint module with a compact structure and a limited range of motion. It has the characteristics of passive flexibility, inherent safety and high torque, and can be applied to large torque operations, and The waist, shoulder and wrist of a service robot that lives in harmony with humans. Background technique [0002] Traditional industrial robots usually complete tasks in a safe and isolated environment, while service robots need to complete given tasks in the normal living environment of humans. Therefore, in addition to having the operational performance required to complete the task, a service robot needs to be inherently safe to ensure that neither party is harmed in...

AI Technical Summary

Problems solved by technology

Although the danger has been reduced to a certain extent, there are still unsafe factors, such as: when being impacted during application, etc.

[0006] 2) It is inconvenient to install, debug and maintain

When the robot is installed and debugged, as well as in the future maintenance and repair, it is necessary to disassemble the circuit and robot mechanism. The design of electromechanical separation leads to poor interchangeability of robot parts and inconvenient maintenance.

[0007] 3) The joints of traditional robots are usually driven in series. Each degree of freedom is driven by a motor, which increases the height of the transmission chain, increases the center of gravity of the robot, increases the inertia of the system, and also affects the dynamics of the joints.

[0008] 4) The error of the series mechanism is the accumulation of the joint errors of the two degrees of freedom, which will eventually lead to the error amplification of the mechanism

Traditional robots usually use a series drive method, each degree of freedom is driven by a motor alone, the series drive makes the joint drive motor and the motion transmission chain become the load of the joint drive motor in front of it, which increases the load on the motor and increases the system. Inertia, which also affects the dynamics of the joint

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