A dual-degree-of-freedom linkage flexible robot joint assembly

Abstract

The present invention relates to a dual-degree-of-freedom linkage flexible robot joint assembly, comprising a first arm segment, a second arm segment, and a third arm segment, wherein the first arm segment is connected to a first universal joint via a first transmission shaft, one end of the second arm segment is connected to the first universal joint via a first synchronization shaft; the other end of the second arm segment is connected to a second universal joint via a second synchronization shaft, and the third arm segment is connected to the second universal joint via a second transmission shaft, wherein a retractable transmission assembly is connected between the first universal joint and the second universal joint for rotating the first universal joint around the first transmission shaft and the second universal joint around the second transmission shaft, and further, a synchronization assembly is connected between the first universal joint and the second universal joint for rotating the first universal joint around the second synchronization shaft and the second universal joint around the second synchronization shaft, so that the first arm segment and the second arm segment rotate at equal angles. The present invention achieves equal-angle transmission in three-dimensional space through variable-length transmission shafts and dual-linked universal joints.

Description

Technical Field

[0001] The invention relates to a dual-freedom linkage flexible robot joint group, belonging to the technical field of flexible mechanical arms. Background Art

[0002] Compared to traditional rigid robots, flexible robots have significant advantages. They are lightweight, highly flexible, have a high power-to-weight ratio, and offer a more flexible workspace. They can be applied to many high-risk, complex, and cumbersome scenarios, and are currently widely used in aerospace, modern manufacturing, urban rail transit, and biomedical devices. As a highly flexible robotic arm component, the dual-degree-of-freedom linkage flexible robot achieves multi-degree-of-freedom bending motion while maintaining a certain level of rigidity and load capacity, enabling it to better adapt to complex and changing environments. However, the mechanical structure of existing dual-degree-of-freedom flexible robots is relatively complex. For example, the outer linkage rope requires a hose, which significantly reduces the efficiency of robotic arm assembly, affects the compliance and flexibility of the robotic arm, and increases the difficulty and cost of maintenance. Furthermore, the linkage rope requires a rope reel to adjust its length, which increases structural complexity and system control difficulty, hindering the design and layout of the robotic arm. Summary of the Invention

[0003] The present invention provides a dual-degree-of-freedom linkage flexible robot joint assembly, aiming to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a dual-degree-of-freedom linkage flexible robot joint assembly that achieves equiangular transmission in three-dimensional space by optimizing the mechanical structure.

[0004] The technical solution of the present invention relates, on the one hand, to a two-degree-of-freedom linkage flexible robot joint assembly, comprising:

[0005] a first arm section connected to a first universal joint via a first transmission shaft;

[0006] a second arm section, one end of the second arm section being connected to the first universal joint via a first synchronization shaft; and the other end of the second arm section being connected to the second universal joint via a second synchronization shaft;

[0007] a third arm section, the third arm section being connected to the second universal joint via a second transmission shaft;

[0008] Among them, a retractable transmission component is connected between the first universal joint and the second universal joint, which is used to rotate the first universal joint around the first transmission shaft and the second universal joint around the second transmission shaft, and a synchronization component is connected between the first universal joint and the second universal joint, which is used to rotate the first universal joint around the second synchronization shaft and the second universal joint around the second synchronization shaft, so that the first arm joint and the second arm joint rotate synchronously.

[0009] Furthermore, it includes a fourth arm section, one end of the fourth arm section is connected to the third universal joint via a third transmission shaft; the end of the third arm section away from the second arm section is connected to the third universal joint via a third synchronization shaft; the end of the third arm section close to the second arm section is connected to the second universal joint via a fourth synchronization shaft; the third arm section is connected to the second universal joint via a fourth transmission shaft;

[0010] Among them, another set of transmission components is connected between the second universal joint and the third universal joint, which is used to rotate the third universal joint around the third transmission shaft and the second universal joint around the fourth transmission shaft, and another set of synchronization components is connected between the second universal joint and the third universal joint, which is used to rotate the third universal joint around the third synchronization shaft and the second universal joint around the fourth synchronization shaft, so that the fourth arm joint and the second arm joint rotate synchronously.

[0011] Furthermore, the transmission assembly includes a retractable spline transmission shaft; the two ends of the spline transmission shaft in one group of transmission assemblies are respectively movably connected to the first universal joint and the second universal joint, and the two ends of the spline transmission shaft in another group of transmission assemblies are respectively connected to the second universal joint and the third universal joint.

[0012] Furthermore, the transmission assembly also includes two groups of meshing bevel gears and transmission gears, and the two bevel gears are respectively connected to the two ends of the spline transmission shaft; the two transmission gears in one group of transmission assemblies are respectively connected to the first universal joint and the second universal joint, and the two transmission gears in the other group of transmission assemblies are respectively connected to the third universal joint and the fourth universal joint.

[0013] Furthermore, a transmission universal joint is connected between the bevel gear and the spline transmission shaft.

[0014] Furthermore, the synchronization assembly includes two synchronization wheels arranged in linkage, wherein the two synchronization wheels in one group of synchronization assemblies are respectively connected to the first universal joint and the second universal joint, and the two synchronization wheels in another group of synchronization assemblies are respectively connected to the second universal joint and the third universal joint.

[0015] Furthermore, the synchronization component also includes a synchronization belt, which connects the two synchronization wheels.

[0016] Furthermore, the first transmission shaft is parallel to the second transmission shaft, and the first synchronization shaft is parallel to the second synchronization shaft; the first transmission shaft is perpendicular to the first synchronization shaft, and the second transmission shaft is perpendicular to the second synchronization shaft.

[0017] Furthermore, the second arm section and the third arm section each include an arm tube and two intermediate arm joints symmetrically arranged at both ends of the arm tube; the two intermediate arm joints of the second arm section are respectively connected to the first universal joint and the second universal joint; the two intermediate arm joints of the third arm section are respectively connected to the second universal joint and the third universal joint.

[0018] Furthermore, the first arm section and the fourth arm section each include an arm tube and an end arm joint arranged at one end of the arm tube, the end arm joint of the first arm section is connected to the first universal joint; the end arm joint of the fourth arm section is connected to the third universal joint.

[0019] The beneficial effects of the present invention are as follows.

[0020] The dual-freedom linkage flexible robotic joint assembly of the present invention enables linkage of six degrees of freedom (DOF) across three universal joints within a single-segment universal arm, enabling uniform angular bending of the arm under three-DOF input conditions. Achieving linkage of all four DOFs between two universal joints requires linking the rotational degrees of freedom of the four axes of the two universal joints in three-dimensional space. The present invention converts the rotation of the two parallel axes of two adjacent joints into rotation parallel to the arm axis using bevel gears. The two bevel gears are then connected via a variable-length spline drive shaft and a dual-link universal joint, achieving uniform angular transmission in three dimensions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 2 is a schematic diagram of the overall structure of a flexible robotic arm joint group according to an embodiment of the present invention.

[0022] Figure 2 4 is a first front view of a flexible robotic arm joint assembly according to an embodiment of the present invention.

[0023] Figure 3 2 is a second front view of the flexible robotic arm joint assembly according to an embodiment of the present invention.

[0024] Figure 4 is a sectional view of a second front view of a flexible robotic arm joint assembly according to an embodiment of the present invention.

[0025] Figure 5 yes Figure 4 Enlarged schematic diagram of point A in the middle.

[0026] Figure 6 3 is a schematic structural diagram of a universal joint of a flexible robotic arm joint assembly according to an embodiment of the present invention.

[0027] Figure 7 3 is a schematic structural diagram of an arm segment of a flexible robotic arm joint assembly according to an embodiment of the present invention.

[0028] Figure 8 2 is a schematic diagram of the joint linkage structure of a flexible robotic arm joint group according to an embodiment of the present invention.

[0029] Reference numerals:

[0030] 100 arm section; 110 first arm section; 120 second arm section; 130 third arm section; 140 fourth arm section; 150 arm tube; 160 middle arm joint; 170 end arm joint; 180 arm hole;

[0031] 200 Universal joint; 210 First universal joint; 220 Second universal joint; 230 Third universal joint; 240 Rotating hole; 250 Connecting block;

[0032] 300 transmission shaft; 310 first transmission shaft; 320 second transmission shaft; 330 third transmission shaft; 340 fourth transmission shaft;

[0033] 400 synchronous axis; 410 first synchronous axis; 420 second synchronous axis; 430 third synchronous axis; 440 fourth synchronous axis;

[0034] 500 Transmission assembly; 510 Spline transmission shaft; 511 Inner cylinder; 512 Outer cylinder; 520 Bevel gear; 530 Transmission gear; 540 Transmission universal joint;

[0035] 600 Synchronous assembly; 610 Synchronous wheel; 611 Middle gear; 612 Baffle; 620 Synchronous belt. DETAILED DESCRIPTION

[0036] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0037] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0038] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0039] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[0040] See also Figures 1 to 7 The dual-degree-of-freedom linkage flexible robot joint group of the technical solution of the present invention includes a first arm section 110, a second arm section 120, a third arm section 130, a transmission assembly 500 and a synchronization assembly 600. The first arm section 110 is connected to the first universal joint 210 through a first transmission shaft 310, and one end of the second arm section 120 is connected to the first universal joint 210 through a first synchronization shaft 410; the other end of the second arm section 120 is connected to the second universal joint 220 through a second synchronization shaft 420, and the third arm section 130 is connected to the second universal joint 220 through a second transmission shaft 320. In addition, a retractable transmission assembly 500 is connected between the first universal joint 210 and the second universal joint 220 for rotating the first universal joint 210 around the first transmission shaft 310 and the second universal joint 220 around the second transmission shaft 320, and a synchronization assembly 600 is connected between the first universal joint 210 and the second universal joint 220 for rotating the first universal joint 210 around the second synchronization shaft 420 and the second universal joint 220 around the second synchronization shaft 420, so that the first arm section 110 and the second arm section 120 rotate synchronously at equal angles.

[0041] It should be noted that the first transmission shaft 310, the second transmission shaft 320, the third transmission shaft 330, and the fourth transmission shaft 340 are collectively referred to as the transmission shaft 300, and the first synchronization shaft 410, the second synchronization shaft 420, the third synchronization shaft 430, and the fourth synchronization shaft 440 are collectively referred to as the synchronization shaft 400. Furthermore, the first transmission shaft 310, the second transmission shaft 320, the third transmission shaft 330, and the fourth transmission shaft 340 can be universal joint cross shafts.

[0042] In some embodiments, see Figures 1 to 3The dual-degree-of-freedom linkage flexible robot joint group of the technical solution of the present invention also includes a fourth arm section 140, one end of the fourth arm section 140 is connected to the third universal joint 230 through a third transmission shaft 330, and the end of the third arm section 130 away from the second arm section 120 is connected to the third universal joint 230 through a third synchronization shaft 430; the end of the third arm section 130 close to the second arm section 120 is connected to the second universal joint 220 through a fourth synchronization shaft 440; the third arm section 130 is connected to the second universal joint 220 through a fourth transmission shaft 340; wherein, the third arm section 130 is connected to the second universal joint 220 through a fourth transmission shaft 340; Another set of transmission components 500 is connected between the second universal joint 220 and the third universal joint 230, which is used to rotate the third universal joint 230 around the third transmission shaft 330 and the second universal joint 220 around the fourth transmission shaft 340. In addition, another set of synchronization components 600 is connected between the second universal joint 220 and the third universal joint 230, which is used to rotate the third universal joint 230 around the third synchronization shaft 430 and the second universal joint 220 around the fourth synchronization shaft 440, so that the fourth arm section 140 and the second arm section 120 rotate synchronously at equal angles.

[0043] Specifically, see Figure 1 and Figure 5 The joint group includes four arm sections 100, namely a first arm section 110, a second arm section 120, a third arm section 130, and a fourth arm section 140 (collectively referred to as arm sections 100), which are connected in sequence from bottom to top. The joint group also includes three universal joints 200, namely a first universal joint 210, a second universal joint 220, and a third universal joint 230 (collectively referred to as universal joints 200). The universal joints 200 are rotatably connected to two adjacent arm sections 100 via a transmission shaft 300 and a synchronization shaft 400. A transmission assembly 500 and a synchronization assembly 600 are provided between two adjacent universal joints 200. By changing the length of the transmission assembly 500, the arm sections 100 at the two ends can rotate relative to the arm section 100 in the middle (the arm section 100 between the two universal joints 200), thereby achieving rotational freedom of four rotating shafts (two transmission shafts 300 and two synchronization shafts 400) between the two universal joints 200, thereby achieving linkage of four degrees of freedom between the two universal joints 200. It is understood that the second and third arm sections 120 and 130, located in the middle, have the same structure. The transmission assembly 500 and synchronization assembly 600 are regularly positioned on different sides of the arm section 100. Multiple arm sections located in the middle can be expanded based on structural characteristics and connection rules. Furthermore, the first universal joint 210, the second universal joint 220, and the third universal joint 230 can be universal joint cross shafts.

[0044] In some embodiments, see Figure 1 and Figure 2The second arm section 120 and the third arm section 130 each include an arm tube 150 and two intermediate arm joints 160 symmetrically disposed at both ends of the arm tube 150. The two intermediate arm joints 160 of the second arm section 120 are respectively connected to the first universal joint 210 and the second universal joint 220, while the two intermediate arm joints 160 of the third arm section 130 are respectively connected to the second universal joint 220 and the third universal joint 230. In some embodiments, the first arm section 110 and the fourth arm section 140 each include an arm tube 150 and an end arm joint 170 disposed at one end of the arm tube 150. The end arm joint 170 of the first arm section 110 is connected to the first universal joint 210, while the end arm joint 170 of the fourth arm section 140 is connected to the third universal joint 230.

[0045] Specifically, see Figure 6 and Figure 7 The middle arm joint 160 and the end arm joint 170 have the same structure, both being provided with two arm holes 180, which are coaxially arranged. The first universal joint 210, the second universal joint 220, and the third universal joint 230 have the same structure, and all three universal joints 200 are provided with four rotating holes 240. A rotating shaft (i.e., a transmission shaft 300 or a synchronization shaft 400) is connected between the arm holes 180 and the rotating holes 240 to achieve a rotatable connection between the arm joint 100 and the universal joint 200. For the same universal joint 200, two of the rotating holes 240 are coaxially arranged, and the other two rotating holes 240 are coaxially arranged, and the axes of the above two rotating holes 240 are perpendicular to each other, that is, the axes of two adjacent rotating holes 240 are perpendicular to each other.

[0046] Further, see Figure 2 、 Figure 3 and Figure 4 For the universal joint 200 in the middle (i.e., the second universal joint 220), in the same universal joint 200, two coaxial rotating holes 240 are respectively connected to a transmission shaft 300 and a synchronization shaft 400, and the other two coaxial rotating holes 240 are respectively connected to another transmission shaft 300 and another synchronization shaft 400. That is, for the universal joint 200 in the middle, the two transmission shafts 300 connected thereto are adjacent and their axes are perpendicular to each other, and the two synchronization shafts 400 connected thereto are adjacent and their axes are perpendicular to each other, and the axis of one transmission shaft 300 and its adjacent synchronization shaft 400 are arranged perpendicularly. Figure 2 、 Figure 3 and Figure 4 For the universal joints 200 at the ends (ie, the first universal joint 210 and the third universal joint 230 ), two adjacent rotation holes 240 are respectively connected to a transmission shaft 300 and a synchronization shaft 400 .

[0047] See also Figure 2 and Figure 3In some embodiments, the transmission assembly 500 includes a retractable spline transmission shaft 510. The ends of the spline transmission shaft 510 in one set of transmission assemblies 500 are movably connected to the first universal joint 210 and the second universal joint 220, respectively, while the ends of the spline transmission shaft 510 in the other set of transmission assemblies 500 are connected to the second universal joint 220 and the third universal joint 230, respectively. In some embodiments, the synchronization assembly 600 includes two synchronization wheels 610 arranged in a linked manner, wherein the two synchronization wheels 610 in one set of synchronization assemblies 600 are connected to the first universal joint 210 and the second universal joint 220, respectively, while the two synchronization wheels 610 in the other set of synchronization assemblies 600 are connected to the second universal joint 220 and the third universal joint 230, respectively.

[0048] Specifically, two transmission assemblies 500 and two synchronization assemblies 600 are provided. The transmission assembly 500 and synchronization assembly 600 on the lower side are used to connect the first universal joint 210 and the second universal joint 220 to enable the first arm section 110 to rotate relative to the second arm section 120, and the third arm section 130 to rotate relative to the second arm section 120, and to ensure that the rotation angles of the first arm section 110 and the third arm section 130 are equal. The transmission assembly 500 and synchronization assembly 600 on the lower side are used to connect the second universal joint 220 and the third universal joint 230 to enable the second arm section 120 to rotate relative to the third arm section 130, and the fourth arm section 140 to rotate relative to the third arm section 130, and to ensure that the rotation angles of the second arm section 120 and the fourth arm section 140 are equal. Furthermore, the transmission assembly 500 on the lower side and the transmission assembly 500 on the upper side are respectively on the same side as the two adjacent rotation holes 240 of the second universal joint 220, and the synchronization assembly 600 on the lower side and the synchronization assembly 600 on the upper side are respectively on the same side as the other two adjacent rotation holes 240 of the second universal joint 220.

[0049] In some embodiments, the transmission assembly 500 further includes two sets of meshing bevel gears 520 and transmission gears 530. Specifically, one set of the transmission assembly 500 includes two bevel gears 520 and two transmission gears 530. The two bevel gears 520 are respectively connected to the two ends of the spline transmission shaft 510. Two of the transmission gears 530 are respectively connected to the first universal joint 210 and the second universal joint 220, while the other two transmission gears 530 are respectively connected to the third universal joint 230 and the fourth universal joint 200. Furthermore, a transmission universal joint 540 is connected between the bevel gears 520 and the spline transmission shaft 510. It is understood that the transmission gears 530 of the present invention may also be bevel gears.

[0050] See also Figure 4 and Figure 5The bevel gear 520 is arranged vertically, and the transmission gear 530 is arranged horizontally, with the bevel gear 520 meshing with the transmission gear 530. The transmission shaft 300 sequentially connects the bevel gear 520, the arm hole 180, and the rotary hole 240. A connecting block 250 is provided on the outer periphery of the universal joint 200, and the connecting block 250 is axially connected to the transmission gear 530. The transmission universal joint 540 is arranged on the side of the transmission gear 530 facing away from the transmission gear 530, and the spline transmission shaft 510 is arranged on the side of the transmission universal joint 540 facing away from the transmission gear 530. The transmission assembly 500 and the transmission universal joint 540 at both ends of the transmission shaft 300 are arranged symmetrically. Furthermore, the retractable spline transmission shaft 510 includes an inner tube 511 and an outer tube 512. One end of the inner tube 511 can be movably inserted into the outer tube 512. By extending or retracting the inner tube 511 into the outer tube 512, the length of the spline transmission shaft 510 is changed, so that the arm sections 100 at both ends rotate relative to the arm section 100 in the middle, and the rotation angles of the arm sections 100 at both ends are equal.

[0051] In some application examples, see Figure 4 and Figure 5 The synchronization assembly 600 includes two synchronization wheels 610 arranged in a linked manner. The two synchronization wheels 610 of one synchronization assembly 600 are respectively connected to the first synchronization shaft 410 and the second synchronization shaft 420, and the two synchronization wheels 610 of the other synchronization assembly 600 are respectively connected to the third synchronization shaft 430 and the fourth synchronization shaft 440. Furthermore, a synchronization belt 620 is connected between the two synchronization wheels 610. Figure 3 、 Figure 4 and Figure 5 The synchronous pulley 610 consists of a central gear 611 and two baffles 612 disposed on either side of the central gear 611. The synchronous shaft 400 connects the rotating hole 240, the arm hole 180, and the synchronous pulley 610. The synchronous belt 620 passes over the upper and lower synchronous pulleys 610 and is tightened. The two baffles 612 prevent the synchronous belt 620 from falling off the synchronous pulley 610. Specifically, the second universal joint 220 is connected to the first universal joint 210 via a set of synchronous assemblies 600, and is connected to the third universal joint 230 via another set of synchronous assemblies 600. When the transmission assembly 500 extends and contracts, causing the arm sections 100 at both ends to rotate, the synchronous assemblies 600 provide a reverse reset force and play a role in controlling the direction of rotation.

[0052] In some embodiments, see Figure 2 and Figure 4The two transmission shafts 300 connected to the same transmission assembly 500 are parallel, i.e., the first transmission shaft 310 is parallel to the second transmission shaft 320, and the third transmission shaft 330 is parallel to the fourth transmission shaft 340. The two synchronization shafts 400 connected to the same synchronization assembly 600 are parallel, i.e., the first synchronization shaft 410 is parallel to the second synchronization shaft 420, and the third synchronization shaft 430 is parallel to the fourth synchronization shaft 440. Furthermore, the transmission shafts 300 and synchronization shafts 400 connecting the two identical universal joints 200 are perpendicular to each other, i.e., the first transmission shaft 310 is perpendicular to the first synchronization shaft 410, and the third transmission shaft 330 is perpendicular to the third synchronization shaft 430.

[0053] The dual-freedom linkage flexible robot joint assembly of the present invention connects four arm segments 100 via three universal joints 200, achieving a total of 6 degrees of freedom (6-degrees-of-freedom) linkage among the three universal joints 200 within a single arm segment, thereby enabling the single arm segment to bend at equal angles under 3-DOF input conditions. Achieving the linkage of all four degrees of freedom between the two universal joints 200 requires linking the four rotational degrees of freedom of the two universal joints 200 in three-dimensional space. For details, see [ 15 ] Figures 1 to 5 The present invention converts the rotation of two parallel rotating shafts (the first synchronization shaft 410 and the second synchronization shaft 420) of two adjacent joints into rotation in a direction parallel to the axis of the arm section 100 through the bevel gear (i.e., the synchronization wheel 610), and then connects the two bevel gears (i.e., the two bevel gears 520 connected to the two ends of the same spline transmission shaft 510) through the variable-length spline transmission shaft 510 and the double-linkage universal joint (i.e., the transmission universal joint 540) to achieve equal-angle transmission in three-dimensional space.

[0054] In order to test the kinematic feasibility of the linkage mechanism, we first make one arm segment with three joints. The non-standard parts are made by 3D printing, while the shafts and timing belts can be made of standard parts. The transmission components between the two joints are made of Figure 8 The finished spline drive shaft 500 shown in the figure has a variable length, and the synchronous belt 620 can be an S3M circular arc tooth synchronous belt with higher transmission accuracy. The flexible robotic arm joint assembly of the present invention converts the rotational freedom required for linkage between adjacent joints into rotation parallel to the robotic arm axis through a bevel gear (i.e., bevel gear 520), and then achieves linkage through the variable length drive shaft and the two bevel gears of the double linkage universal joint. By changing the layout direction of the universal joint fork (see Figure 7 The middle arm joint 160 / end arm joint 170 in the arm section 100 can limit the linkage within the same arm section 100 to the same plane, and the linkage can be achieved by using a synchronous belt 620. Figure 8 , the vertical rotation axis of the universal joint is the Yaw axis, and the horizontal rotation axis of the universal joint is the pitch axis, then Figure 8 The cardan shaft arrangement can be called YPPYYP.

[0055] In some specific embodiments, see Figure 8 The arm section 100 and the transmission gear 530, which are coaxial with the same yaw axis, can be fixedly connected. The universal joint 200 and the synchronous gear 610, which are coaxial with the same pitch axis, can be fixedly connected. The bevel gear 520, the spline transmission shaft 500, and the two transmission universal joints 540 in the same transmission assembly 500 can also be fixedly connected.

[0056] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A two-degree-of-freedom linkage flexible robot joint assembly, characterized in that: include: a first arm section (110), the first arm section (110) being connected to the first universal joint (210) via a first transmission shaft (310); a second arm section (120), one end of the second arm section (120) being connected to the first universal joint (210) via a first synchronization shaft (410); and the other end of the second arm section (120) being connected to the second universal joint (220) via a second synchronization shaft (420); a third arm section (130), the third arm section (130) being connected to the second universal joint (220) via a second transmission shaft (320); wherein a retractable transmission assembly (500) is connected between the first universal joint (210) and the second universal joint (220) for rotating the first universal joint (210) around the first transmission shaft (310) and the second universal joint (220) around the second transmission shaft (320); and a synchronization assembly (600) is connected between the first universal joint (210) and the second universal joint (220) for rotating the first universal joint (210) around the second synchronization shaft (420) and the second universal joint (220) around the second synchronization shaft (420), so that the first arm section (110) and the second arm section (120) rotate at equal angles; The transmission assembly (500) includes a retractable transmission rod (510) and two sets of meshingly connected driving gears (520) and transmission gears (530); the two ends of the transmission rod (510) in one set of the transmission assemblies (500) are movably connected to the first universal joint (210) and the second universal joint (220), respectively, and the two ends of the transmission rod (510) in the other set of the transmission assemblies (500) are connected to the second universal joint (220) and the third universal joint (230), respectively. The two driving gears (520) are respectively connected to the two ends of the transmission rod (510); the two transmission gears (530) in one group of transmission assemblies (500) are respectively connected to the first universal joint (210) and the second universal joint (220); and the two transmission gears (530) in another group of transmission assemblies (500) are respectively connected to the third universal joint (230) and the fourth universal joint (200); A transmission universal joint (540) is connected between the driving gear (520) and the transmission rod (510); The synchronization assembly (600) includes two synchronization wheels (610) arranged in a linked manner, wherein the two synchronization wheels (610) in one group of synchronization assemblies (600) are respectively connected to the first universal joint (210) and the second universal joint (220), and the two synchronization wheels (610) in another group of synchronization assemblies (600) are respectively connected to the second universal joint (220) and the third universal joint (230); the synchronization assembly (600) further includes a synchronization belt (620), and the synchronization belt (620) connects the two synchronization wheels (610).

2. The dual-degree-of-freedom linkage flexible robot joint assembly according to claim 1, characterized in that: It also includes a fourth arm section (140), one end of the fourth arm section (140) being connected to the third universal joint (230) via a third transmission shaft (330); An end of the third arm section (130) away from the second arm section (120) is connected to the third universal joint (230) via a third synchronization shaft (430); an end of the third arm section (130) close to the second arm section (120) is connected to the second universal joint (220) via a fourth synchronization shaft (440); The third arm joint (130) is connected to the second universal joint (220) via a fourth transmission shaft (340); Wherein, another group of transmission components (500) is connected between the second universal joint (220) and the third universal joint (230) for rotating the third universal joint (230) around the third transmission shaft (330) and the second universal joint (220) around the fourth transmission shaft (340), and another group of synchronization components (600) is connected between the second universal joint (220) and the third universal joint (230) for rotating the third universal joint (230) around the third synchronization shaft (430) and the second universal joint (220) around the fourth synchronization shaft (440), so that the fourth arm joint (140) and the second arm joint (120) rotate at equal angles.

3. The dual-degree-of-freedom linkage flexible robot joint assembly according to claim 1, characterized in that: The first transmission shaft (310) is parallel to the second transmission shaft (320), and the first synchronization shaft (410) is parallel to the second synchronization shaft (420); the first transmission shaft (310) is perpendicular to the first synchronization shaft (410), and the second transmission shaft (320) is perpendicular to the second synchronization shaft (420).

4. The dual-degree-of-freedom linkage flexible robot joint assembly according to claim 2, characterized in that: The second arm section (120) and the third arm section (130) both comprise an arm tube (150) and two intermediate arm joints (160) symmetrically arranged at both ends of the arm tube (150); the two intermediate arm joints (160) of the second arm section (120) are respectively connected to the first universal joint (210) and the second universal joint (220); and the two intermediate arm joints (160) of the third arm section (130) are respectively connected to the second universal joint (220) and the third universal joint (230).

5. The dual-degree-of-freedom linkage flexible robot joint assembly according to claim 2, characterized in that: The first arm section (110) and the fourth arm section (140) both include an arm tube (150) and an end arm joint (170) provided at one end of the arm tube (150); the end arm joint (170) of the first arm section (110) is connected to the first universal joint (210); and the end arm joint (170) of the fourth arm section (140) is connected to the third universal joint (230).

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