Two-degree-of-freedom parallel driving flexible joint mechanism

Abstract

The invention discloses a two-degree-of-freedom parallel driving flexible joint mechanism. The two-degree-of-freedom parallel driving flexible joint mechanism comprises a central supporting frame, an output end transmission module and two input end driving modules, wherein the central supporting frame comprises a first connecting end and a fixing head arranged opposite to the first connecting end; the output end transmission module comprises an output shell, a T-shaped main shaft, two input bevel gears and an output bevel gear; the T-shaped main shaft is arranged in the output shell, the T-shaped main shaft comprises a horizontal end and a vertical end vertically connected to the middle of the horizontal end, the two input bevel gears are rotationally connected to the two sides of the horizontal end respectively, the vertical end is sleeved with the output bevel gear, and the two input bevel gears are meshed with the output bevel gear respectively; the two input end driving modules are arranged on the two opposite sides of the central supporting frame correspondingly and used for driving the two input bevel gears to rotate correspondingly so that the second connecting end can rotate around the horizontal end or rotate around the vertical end. The space layout is greatly optimized, and the flexibility and adaptability of the humanoid mechanical arm in practical application are enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid joints, and in particular to a two-degree-of-freedom parallel-driven flexible joint mechanism. Background Art

[0002] In the field of robotics, the design of joint mechanisms plays a decisive role in the performance of humanoid robotic arms. Especially in unstructured environments such as homes, hospitals, and public service places, humanoid robotic arms must ensure the smooth completion of tasks and safe interaction with humans, which places extremely high demands on joint mechanisms.

[0003] At present, the common solutions for the design of humanoid robot arm joints have their own limitations, as follows:

[0004] On the one hand, most humanoid robot arm joints use a single-joint motor drive solution. This solution exposes the shortcomings of motor performance when dealing with high-load conditions. Due to the inherent limitations of single-joint motors in power reserve and torque output capacity, when the humanoid robot arm needs to carry a large load, the motor is prone to overload and unstable speed, which seriously affects the movement accuracy and stability of the robot arm and cannot meet the accuracy and reliability requirements for high-load operations in actual applications.

[0005] On the other hand, although the humanoid robot arm with multiple joint mechanisms in parallel has unique advantages in some aspects, it also faces severe challenges. Its structural design tends to be complex. The numerous connecting parts and transmission links not only increase the difficulty of designing, manufacturing and assembling the robot arm, but also greatly increase the probability of failure, bringing a heavy burden to subsequent maintenance. In addition, the connection structure of multiple joint mechanisms in parallel is usually accompanied by a large size, which not only restricts the space occupied, but also increases the overall inertia of the robot arm, affecting its dynamic response performance and movement flexibility.

[0006] In terms of force control, traditional force sensor force control and current force control have many shortcomings. The installation position of the force sensor and the hysteresis characteristics of the sensor itself will reduce the accuracy and real-time performance of force measurement in complex dynamic environments. In the face of interference such as vibration and impact, it is very easy to misjudge the interference signal as a real force signal, affecting the accuracy of force control. Current force control is not optimistic either. During the force adjustment process, the output of force is prone to sudden changes or discontinuities. In dynamic force control tasks, its response speed and tracking accuracy are insufficient to meet complex external force changes. Moreover, this method has stringent requirements on motor performance, requiring the motor to have precise current control and rapid response capabilities, which undoubtedly increases the cost and system complexity. Summary of the invention

[0007] The present invention provides a two-degree-of-freedom parallel-driven flexible joint mechanism to solve the technical problems mentioned in the background technology.

[0008] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0009] The present invention provides a two-degree-of-freedom parallel-driven flexible joint mechanism, comprising:

[0010] The central support frame comprises a first connection end and a fixing head arranged opposite to the first connection end;

[0011] The output end transmission module includes an output housing, a T-shaped main shaft, two input bevel gears, and an output bevel gear; the T-shaped main shaft is arranged in the output housing, the T-shaped main shaft includes a horizontal end and a vertical end vertically connected to the middle of the horizontal end, the two input bevel gears are rotatably connected to the two sides of the horizontal end, the output bevel gear is sleeved on the vertical end, and the two input bevel gears are respectively meshed with the output bevel gear; a second connection end is formed on the output bevel gear;

[0012] The two input end driving modules are respectively arranged on two opposite sides of the central support frame, and are respectively used to drive the two input bevel gears to rotate, so that the second connecting end rotates around the horizontal end or rotates around the vertical end.

[0013] Furthermore, the input end driving module includes:

[0014] The motor and the stator are fixed in the motor mounting hole provided in the central support frame;

[0015] A first pulley is fixedly mounted on the rotor of the motor;

[0016] A second pulley is rotatably connected to the horizontal end of the T-shaped main shaft;

[0017] An elastic connecting member, one end of which is fixed to the second pulley and the other end of which is fixed to one of the input bevel gears;

[0018] A synchronous belt, mounted on the outer rings of the first pulley and the second pulley;

[0019] The arm shell is fixedly mounted on the side of the central support frame, and a main shaft hole is opened on the arm shell. The horizontal end is rotatably connected in the main shaft hole, so that the output housing is rotatably connected to the central support frame.

[0020] Further, the elastic connecting member comprises an inner ring, an elastic deformation layer and an outer ring;

[0021] The inner ring is fixed on the input bevel gear, the elastic deformation layer is elastically connected in the area surrounded by the inner ring and the outer ring, and the outer ring is fixedly mounted on the second pulley.

[0022] Furthermore, the elastic deformation layer is two elastic connecting strips, and the two elastic connecting strips are coiled in a wave shape between the inner ring and the outer ring.

[0023] Furthermore, the flexible joint mechanism further includes a monitoring module, and the monitoring module includes:

[0024] Two first monitoring submodules are symmetrically installed on both sides of the output end transmission module, and each first monitoring submodule includes an encoder bracket, an encoder magnetic ring and an encoder reader; the encoder magnetic ring is fixedly installed on the input bevel gear, and the encoder reader is installed on the fixed head of the central support frame through the encoder bracket; and the encoder reader is arranged opposite to the encoder magnetic ring and is used to read the value of the encoder magnetic ring;

[0025] The two second monitoring submodules are respectively mounted on the two motors and are used to read the rotation data of the two motor rotors respectively.

[0026] Furthermore, the encoder bracket includes a mounting ring and a fixing frame connected to the mounting ring, the mounting ring is fixedly connected to the encoder reading head, and the fixing frame is fixedly connected to the fixing head of the central supporting frame.

[0027] Furthermore, the motor includes a motor body and a motor driver, and the motor driver is electrically connected to the motor body.

[0028] Furthermore, the motor further comprises a driver housing and / or a driver heat sink:

[0029] The driver housing is fixed on the motor body, the motor driver is arranged on the inner side of the driver housing; and the driver heat sink is bonded to the motor driver.

[0030] Furthermore, the input end driving module further includes two idler wheel modules respectively arranged on the circumferences of the two synchronous belts;

[0031] The idler module includes one or more idler assemblies, each of which includes an idler, a pin and a bearing. The idler is rotatably connected to a first idler hole opened in the central support frame and a second idler hole opened in the arm shell through the pin and the bearing.

[0032] Furthermore, the output shell includes a first output shell and a second output shell connected to each other, and circular holes are provided on the side surfaces of the first output shell and the second output shell on the opposite sides for the horizontal end of the central support frame to pass through; and semicircular holes that can be combined into a full circle are provided on the tops of both for the vertical end to pass through.

[0033] Beneficial effects of the present invention:

[0034] 1. Compared with the traditional single-joint motor drive solution, the present invention adopts a flexible joint mechanism driven in parallel with two degrees of freedom, which has obvious advantages over the traditional single-joint motor drive solution. The flexible joint mechanism driven in parallel with two degrees of freedom has higher rigidity and stronger load-bearing capacity. The joint movement is shared by the motors on the two input drive modules. This driving method greatly improves the load capacity and effectively overcomes the performance limitations of the traditional single-joint motor drive under high load.

[0035] 2. Compared with the existing parallel structure of multiple joint mechanisms, the present invention innovatively adopts a more compact gear differential drive and a motor with a higher power density, which makes the size of the present invention closer to human joints, greatly optimizes the spatial layout, and enhances the flexibility and adaptability of the humanoid robotic arm in practical applications.

[0036] 3. In terms of force control and compliance, the present invention adds a flexible transmission link in the joint transmission chain, that is, the second pulley flexibly drives the input bevel gear to move through an elastic connector. Compared with the traditional force control method, the parallel elastic drive method of the present invention is unique. It can not only achieve passive compliance, but also buffer external forces through the natural deformation of the elastic connector when in contact with the outside world, ensuring the safety and stability of human-computer interaction and operation. Moreover, force measurement based on the deformation of the elastic connector avoids the limitations of discontinuous force signals in traditional force control methods, and significantly improves the accuracy and continuity of force control. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0038] Figure 2 It is a front view of the present invention;

[0039] Figure 3 for Figure 2 An enlarged view of the local cross-sectional view in the AA direction;

[0040] Figure 4 A zoomed view of the exploded schematic diagram of the present invention;

[0041] Figure 5 for Figure 4 A partial enlarged view of the B area;

[0042] Figure 6 It is an enlarged schematic diagram of the three-dimensional structure of the central support frame of the present invention;

[0043] Figure 7 It is an enlarged schematic diagram of the three-dimensional structure of one of the arm shells in the present invention;

[0044] Figure 8 It is an enlarged schematic diagram of the three-dimensional structure of another arm shell in the present invention;

[0045] Fig. 9 It is an enlarged schematic diagram of the three-dimensional structure of the first output housing in the present invention;

[0046] Fig.10 It is an enlarged schematic diagram of the three-dimensional structure of the inner output housing of the present invention;

[0047] Fig.11 It is a schematic diagram of the layout of the inner idler wheel assembly of the present invention;

[0048] Fig.12 It is an enlarged schematic diagram of the three-dimensional structure of the inner elastic connecting piece of the present invention.

[0049] Description of reference numerals:

[0050] 1. Central support frame; 11. First connection end; 12. Fixed head; 13. Motor mounting hole; 14. First idler wheel hole; 15. Driver mounting slot; 16. Joint limit slot;

[0051] 2. Output end transmission module; 21. Output housing; 211. First output housing; 2111. Round hole; 2112. Semi-circular hole; 212. Second output housing; 22. T-shaped spindle; 221. Horizontal end; 222. Vertical end; 23. Input bevel gear; 24. Output bevel gear; 241. Second connection end;

[0052] 3. Input end drive module; 31. Motor; 311. Motor body; 312. Motor driver; 313. Driver housing; 314. Driver heat sink; 32. First pulley; 33. Second pulley; 34. Elastic connector; 341. Inner ring; 342. Elastic deformation layer; 343. Outer ring; 35. Synchronous belt; 36. Arm housing; 361. Spindle hole; 362. Second idler hole; 363. Synchronous belt slot; 37. Idle assembly;

[0053] 4. Monitoring module; 41. Encoder bracket; 411. Mounting ring; 412. Fixing bracket; 42. Encoder magnetic ring; 43. Encoder reader. DETAILED DESCRIPTION

[0054] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0055] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0056] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0059] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0060] Reference Figures 1 to 5 The embodiment of the present application provides a two-degree-of-freedom parallel-driven flexible joint mechanism, comprising:

[0061] The central support frame 1 includes a first connection end 11 and a fixed head 12 arranged opposite to the first connection end 11; the first connection end 11 is used to connect with the end of the joint mechanism of the external robot arm (including but not limited to the palm joint, elbow joint, arm joint, etc.); it is named as joint structure 1 here; the end can be an input end or an output end or other connection end that does not generate an input-output relationship; in this embodiment, the first connection end 11 is fixedly connected to the output bevel gear shaft of the joint mechanism of the external robot arm;

[0062] The output end transmission module 2 includes an output housing 21, a T-shaped main shaft 22, two input bevel gears 23, and an output bevel gear 24; the T-shaped main shaft 22 is arranged in the output housing 21, and the T-shaped main shaft 22 includes a horizontal end 221 and a vertical end 222 vertically connected to the middle of the horizontal end 221, the two input bevel gears 23 are respectively rotatably connected to the two sides of the horizontal end 221, the output bevel gear 24 is sleeved on the vertical end 222, and the two input bevel gears 23 are respectively meshed with the output bevel gears 24; a second connecting end 241 is formed on the output bevel gear 24; the second connecting end 241 is connected to the end of another joint structure of the external robot arm, which is named as joint structure 2 here; similarly, the end here can be an input end or an output end or other connecting end that does not produce an input-output relationship;

[0063] The two input end driving modules 3 are respectively arranged on two opposite sides of the central support frame 1 , and are respectively used to drive the two input bevel gears 23 to rotate, so that the second connecting end 241 rotates around the horizontal end 221 or rotates around the vertical end 222 .

[0064] The output end transmission module 2 and the two input end drive modules 3 are electrically connected to the control module on the humanoid robot arm to achieve intelligent control.

[0065] The present invention adopts a flexible joint mechanism driven in parallel with two degrees of freedom, wherein the two degrees of freedom come from two input end drive modules 3 respectively, and the two input end drive modules 3 are connected to the output end transmission module 2 in a similar parallel form, which has obvious advantages over the traditional single joint motor drive scheme. The flexible joint mechanism driven in parallel with two degrees of freedom has higher rigidity and stronger load-bearing capacity. The joint movement is coordinated by the motors on the two input end drive modules to share the workload. This driving method greatly improves the load capacity and effectively overcomes the performance limitations of the traditional single joint motor drive under high load.

[0066] In some embodiments, a joint limiting groove 16 is provided on the central support frame 1, and the joint limiting groove 16 is used to mechanically limit the flexion and extension angle of the joint of the present invention.

[0067] In some embodiments, the input end drive module 3 is selected from a synchronous belt drive module, a gear drive module, a transmission chain drive module, etc. Preferably, the input end drive module 3 in the present invention is selected from a synchronous belt drive module. Figure 3 and Figure 4 , the synchronous belt drive module includes:

[0068] The motor 31, the stator is fixed in the motor mounting hole 13 provided in the central support frame 1;

[0069] A first pulley 32 is fixedly mounted on the rotor of the motor 31;

[0070] The second pulley 33 is rotatably connected to the horizontal end 221 of the T-shaped main shaft 22; and the diameter of the second pulley 33 is greater than the diameter of the first pulley 32;

[0071] An elastic connecting member 34, one end of which is fixed to the second pulley 33, and the other end of which is fixed to one of the input bevel gears 23;

[0072] A synchronous belt 35 is mounted on the outer rings of the first pulley 32 and the second pulley 33 to achieve synchronous transmission of the first pulley 32 and the second pulley 33;

[0073] The arm shell 36 is fixedly mounted on the side of the central support frame 1, and a main shaft hole 361 is provided on the arm shell 36, and the horizontal end 221 is rotatably connected in the main shaft hole 361, so that the output housing 21 is rotatably connected to the central support frame 1. A synchronous belt groove 363 is provided on the arm shell 36, and the synchronous belt 35 is arranged in the synchronous belt groove 363 of the arm shell 36. The synchronous belt groove 363 is used to provide a movable space for the synchronous belt 35. This layout can make the present invention more compact.

[0074] When the two synchronous belt drive modules are in use, if the motors 31 on the two synchronous belt drive modules rotate in the same direction, the two motors 31 will respectively drive the two input bevel gears 23 to rotate in the same direction through the first pulley 32 and the second pulley 33 on their respective sides. The two input bevel gears 23 cannot drive the output bevel gear 24 to rotate when rotating in the same direction, and no relative movement occurs between the three. In addition, since the output housing 21 and the internal components of the output housing 21 are rotatably connected to the arm housings 36 on both sides of the central support frame 1 through the horizontal end 221 of the T-shaped main shaft 22, Therefore, in this state, the two motors 31 will eventually drive the output housing 21 and its internal components to rotate along the horizontal end 221 of the T-shaped main shaft 22, thereby causing the output bevel gear 24 and the second connecting end 241 thereon to rotate along the horizontal end 221 of the T-shaped main shaft 22, thereby realizing the flexion and extension movement of the joint structure 2 connected to the second connecting end 241; when the two motors 31 rotate in opposite directions, the output bevel gear 24 will eventually be driven to rotate on its own, and the relative movement of the present invention and the joint structure 2 to produce internal or external rotation or internal and external abduction can be manifested on the joint.

[0075] The present invention innovatively adopts a gear differential drive with a more compact structure and a motor with a higher power density, which makes the present invention closer to human joints in size, greatly optimizes the spatial layout, and enhances the flexibility and adaptability of the humanoid robotic arm in practical applications.

[0076] In addition, the present invention adds a flexible transmission link in the joint transmission chain, that is, the second pulley flexibly drives the input bevel gear to move through the elastic connector. Compared with the traditional force control method, the parallel elastic drive method of the present invention is unique. It can not only achieve passive flexibility, but also buffer external forces through the natural deformation of the elastic connector when in contact with the outside world, ensuring the safety and stability of human-computer interaction and operation. Moreover, force measurement based on the deformation of the elastic connector avoids the limitations of discontinuous force signals in traditional force control methods, and significantly improves the accuracy and continuity of force control.

[0077] In some embodiments, reference Fig.12 , the elastic connecting member 34 includes an inner ring 341, an elastic deformation layer 342 and an outer ring 343;

[0078] The inner ring 341 is fixed to the input bevel gear 23 by screws, the elastic deformation layer 342 is elastically connected in the area surrounded by the inner ring 341 and the outer ring 343, and the outer ring 343 is fixed to the second pulley 33 by screws. The torque difference between the inner ring 341 and the outer ring 343 will cause the elastic deformation layer 342 to deform, resulting in an angular deflection between the inner ring 341 and the outer ring 343.

[0079] In some embodiments, reference Fig.12 The elastic deformation layer 342 is two elastic connecting strips, and the two elastic connecting strips are coiled in a wave shape between the inner ring 341 and the outer ring 343.

[0080] In some embodiments, reference Figure 4 and Figure 5 The flexible joint mechanism further comprises a monitoring module 4, which is electrically connected to the control module on the humanoid robot arm. The monitoring module 4 comprises:

[0081] Two first monitoring submodules are symmetrically mounted on both sides of the output end transmission module 2, and each first monitoring submodule includes an encoder bracket 41, an encoder magnetic ring 42 and an encoder reader 43; the encoder magnetic ring 42 is fixedly mounted on the input bevel gear 23, and the encoder reader 43 is mounted on the fixed head 12 of the central support frame 1 through the encoder bracket 41; and the encoder reader 43 is arranged opposite to the encoder magnetic ring 42, and is used to read the value of the encoder magnetic ring 42;

[0082] The two second monitoring submodules are respectively mounted on the two motors 31 and are used to read the rotation data of the rotors of the two motors 31 respectively.

[0083] When using the monitoring module 4, by reading the values ​​on the encoder magnetic ring 42 and the motor encoder, the deflection angle of the elastic deformation layer of the two elastic connectors 34 can be obtained. By using Hooke's law, the torque force exerted on the two input bevel gears 23 can be obtained. At the same time, the two encoder magnetic rings 42 can respectively read the rotation angles of the two input bevel gears 23 well. Therefore, by adding the monitoring module 4, a good hardware foundation for force and position control can be provided for the present invention.

[0084] In some embodiments, reference Figure 5 The encoder bracket 41 includes a mounting ring 411 and a fixing frame 412 connected to the mounting ring 411 , the mounting ring 411 is fixedly connected to the encoder reader 43 , and the fixing frame 412 is fixedly connected to the fixing head 12 of the central support frame 1 .

[0085] In some embodiments, referring to Figure 4, the motor 31 includes a motor body 311 and a motor driver 312, and the motor driver 312 is electrically connected to the motor body 311. The motor driver 312 is arranged in a driver installation slot 15 provided in the central support frame 1.

[0086] In some embodiments, referring to 4, the motor 31 further includes a driver housing 313 and / or a driver heat sink 314:

[0087] The driver housing 313 is fixed on the motor body 311, and the motor driver 312 is arranged on the inner side of the driver housing 313; the driver heat sink 314 is bonded to the motor driver 312; by adding the driver housing 313 to the motor driver 312 and then arranging the driver heat sink 314 on the motor driver 312, the service life of the motor driver 312 and the entire motor 31 can be improved.

[0088] In some embodiments, reference Figures 5 to 8 as well as Fig.11 , the input end driving module 3 also includes two idler wheel modules respectively arranged on the sides of the two synchronous belts 35;

[0089] The idler module includes one or more idler assemblies 37, each idler assembly 37 includes an idler, a pin and a bearing, and the idler is rotatably connected to the first idler hole 14 opened in the central support frame 1 and the second idler hole 362 opened in the arm shell 36 through the pin and the bearing.

[0090] By arranging a plurality of idler assemblies 37 on the circumference of the synchronous belt 35, the synchronous belt 35 can be provided with a plurality of different gears of tension. It should be noted that if a wider adjustment range is desired, only the number of idler assemblies 37 needs to be adjusted. Fig.11 shown.

[0091] In some embodiments, reference Fig. 9 and Fig.10 The output housing 21 includes a first output housing 211 and a second output housing 212 connected to each other. A circular hole 2111 is provided on the side surfaces of the first output housing 211 and the second output housing 212 on opposite sides thereof for the horizontal end 221 to pass through; and a semicircular hole 2112 which can be combined into a full circle is provided on the top of both of them for the vertical end 222 of the central support frame 1 to pass through.

[0092] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered within the protection scope of the present invention. In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A two-degree-of-freedom parallel-driven flexible joint mechanism, characterized in that: include: The central support frame (1) comprises a first connection end (11) and a fixing head (12) arranged opposite to the first connection end (11); The output end transmission module (2) comprises an output housing (21), a T-shaped main shaft (22), two input bevel gears (23), and an output bevel gear (24); the T-shaped main shaft (22) is arranged in the output housing (21); the T-shaped main shaft (22) comprises a horizontal end (221) and a vertical end (222) vertically connected to the middle of the horizontal end (221); the two input bevel gears (23) are rotatably connected to two sides of the horizontal end (221); the output bevel gear (24) is sleeved on the vertical end (222); the two input bevel gears (23) are respectively meshed with the output bevel gear (24); and a second connection end (241) is formed on the output bevel gear (24); The two input end drive modules (3) are respectively arranged on two opposite sides of the central support frame (1) and are respectively used to drive the two input bevel gears (23) to rotate, so that the second connection end (241) rotates around the horizontal end (221) or rotates around the vertical end (222).

2. The two-degree-of-freedom parallel-driven flexible joint mechanism according to claim 1, characterized in that: The input end driving module (3) comprises: A motor (31), the stator of which is fixed in a motor mounting hole (13) provided in the central support frame (1); A first pulley (32) is fixedly mounted on the rotor of the motor (31); A second pulley (33) is rotatably connected to the horizontal end (221) of the T-shaped main shaft (22); An elastic connecting member (34), one end of which is fixed on the second pulley (33) and the other end of which is fixed on one of the input bevel gears (23); A synchronous belt (35) is mounted on the outer rings of the first pulley (32) and the second pulley (33); The arm housing (36) is fixedly mounted on the side of the central support frame (1), and a main shaft hole (361) is opened on the arm housing (36). The horizontal end (221) is rotatably connected in the main shaft hole (361), so that the output housing (21) is rotatably connected to the central support frame (1).

3. The two-degree-of-freedom parallel-driven flexible joint mechanism according to claim 2, characterized in that: The elastic connecting member (34) comprises an inner ring (341), an elastic deformation layer (342) and an outer ring (343); The inner ring (341) is fixed on the input bevel gear (23), the elastic deformation layer (342) is elastically connected in the area surrounded by the inner ring (341) and the outer ring (343), and the outer ring (343) is fixedly mounted on the second pulley (33).

4. The two-degree-of-freedom parallel-driven flexible joint mechanism according to claim 2, characterized in that: The elastic deformation layer (342) is two elastic connecting strips, and the two elastic connecting strips are coiled in a wave shape between the inner ring (341) and the outer ring (343).

5. The two-degree-of-freedom parallel-driven flexible joint mechanism according to claim 2, characterized in that: It also includes a monitoring module (4), wherein the monitoring module (4) includes: Two first monitoring submodules are symmetrically mounted on both sides of the output end transmission module (2), and each first monitoring submodule comprises an encoder bracket (41), an encoder magnetic ring (42) and an encoder reader (43); the encoder magnetic ring (42) is fixedly mounted on the input bevel gear (23), and the encoder reader (43) is mounted on the fixed head (12) of the central support frame (1) through the encoder bracket (41); and the encoder reader (43) is arranged opposite to the encoder magnetic ring (42) and is used to read the value of the encoder magnetic ring (42); The two second monitoring submodules are respectively mounted on the two motors (31) and are used to respectively read the rotation data of the rotors of the two motors (31).

6. The two-degree-of-freedom parallel-driven flexible joint mechanism according to claim 5, characterized in that: The encoder bracket (41) comprises a mounting ring (411) and a fixing frame (412) connected to the mounting ring (411); the mounting ring (411) is fixedly connected to the encoder reader (43); and the fixing frame (412) is fixedly connected to the fixing head (12) of the central support frame (1).

7. The two-degree-of-freedom parallel-driven flexible joint mechanism according to claim 2, characterized in that: The motor (31) comprises a motor body (311) and a motor driver (312), and the motor driver (312) is electrically connected to the motor body (311).

8. The two-degree-of-freedom parallel-driven flexible joint mechanism according to claim 7, characterized in that: The motor (31) further comprises a driver housing (313) and / or a driver heat sink (314): The driver housing (313) is fixed on the motor body (311), and the motor driver (312) is arranged on the inner side of the driver housing (313); and the driver heat sink (314) is bonded to the motor driver (312).

9. The two-degree-of-freedom parallel-driven flexible joint mechanism according to claim 2, characterized in that: The input end drive module (3) further comprises two idler wheel modules respectively arranged on the circumferences of the two synchronous belts (35); The idler wheel module includes one or more idler wheel assemblies (37), each idler wheel assembly (37) includes an idler wheel, a pin shaft and a bearing, and the idler wheel is rotatably connected to a first idler wheel hole (14) opened in the central support frame (1) and a second idler wheel hole (362) opened in the arm shell (36) through the pin shaft and the bearing.

10. The two-degree-of-freedom parallel-driven flexible joint mechanism according to any one of claims 1 to 9, characterized in that: The output housing (21) comprises a first output housing (211) and a second output housing (212) which are connected to each other. A circular hole (2111) is provided on the side surfaces of the first output housing (211) and the second output housing (212) opposite to each other, so that the horizontal end (221) of the central support frame (1) can pass through; and a semicircular hole (2112) which can be combined into a full circle is provided on the top of both, so that the vertical end (222) can pass through.

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