A multi-directional joint module for a robot

Abstract

The application provides a multi-directional joint module for a robot, and relates to a robot joint, which comprises a first rotating assembly having an end face gear rotating about a first axis, a second rotating assembly arranged on the first rotating assembly and rotating about a second axis, the first axis being orthogonal to the second axis, the second rotating assembly comprising a second rotating shaft, a first lateral gear being fixed on the second rotating shaft and engaged with the teeth of the end face gear, and an output unit being fixedly connected with the second rotating shaft and rotating about the second axis, the output unit being capable of realizing multi-directional rotation in a plane perpendicular to the first axis through the combined motion of the first and second rotating assemblies. Thanks to the central symmetrical arrangement of the second rotating assembly and the supporting assembly, the power performance and load capacity are significantly improved, and high integration and space utilization are realized.

Description

Technical Field

[0001] This invention relates to the field of robot joint technology, and in particular to a multi-directional joint module for robots. Background Technology

[0002] Currently, robot joint modules face a fundamental contradiction in merging compactness with multi-directional motion integration. From a mechanical design perspective, while stacking single-degree-of-freedom joints in series can achieve multi-directional motion through multi-stage transmission, it increases structural length and weight, and each stage of transmission introduces cumulative errors, severely weakening dynamic performance. On the other hand, highly integrated compact designs can reduce size, but are limited by the fixed axis characteristics of traditional rotary joints. To achieve compound motions with non-orthogonal axes such as pitch and yaw, module stacking or reliance on external transmission mechanisms is often required, which not only substantially negates the advantages of compactness but also introduces additional transmission errors and efficiency losses. Summary of the Invention

[0003] This invention provides a multi-directional joint module for robots, which aims to solve the problem of the difficulty in achieving both integration and compactness in joint modules.

[0004] To achieve the above objectives, embodiments of the present invention provide a multi-directional joint module for a robot, comprising:

[0005] A first rotating assembly having an end face gear that rotates about a first axial direction;

[0006] The second rotating assembly is disposed on the first rotating assembly, and the second rotating assembly rotates about a second axis. The first axis is orthogonal to the second axis. The second rotating assembly includes a second rotating shaft that can rotate about the second axis. A first lateral gear is fixed on the second rotating shaft. The first lateral gear meshes with the teeth of the end face gear.

[0007] The output unit is fixedly connected to the second rotating shaft and rotates around the second axis.

[0008] Preferably, the first rotating assembly includes a first rotating part that rotates about a first axial direction. The multi-directional joint module further includes a first drive motor for driving the first rotating part. The first drive motor is connected to the first rotating part in a transmission manner. The end face gear is formed on the upper end face of the first rotating part, and the teeth of the end face gear are arranged in a ring.

[0009] Preferably, the multi-directional joint module further includes a second drive motor, which is located at the center of the first rotating part and is connected to the second rotating shaft via a transmission connection.

[0010] Preferably, the decoupling between the end face gear and the first lateral gear is achieved through coordinated control of the first drive motor and the second drive motor.

[0011] Preferably, a accommodating cavity for accommodating a second drive motor is provided at the center of the first rotating part, and a supporting bearing is provided between the accommodating cavity and the output shaft of the second drive motor. The inner ring of the supporting bearing is fixedly connected to the output shaft of the second drive motor, and the outer ring is fixedly connected to the inner wall of the accommodating cavity.

[0012] By utilizing the above technical solution, the second drive motor can be installed in the cavity at the center of the first rotating part, thereby reducing the size of the joint module.

[0013] Preferably, the first rotating assembly is further provided with a support assembly, the support assembly and the second rotating assembly are centrally symmetrically arranged about the projection of the first axis onto the end face gear, the support assembly includes a support shaft that rotates about the second axis, and a second lateral gear for meshing with the teeth of the end face gear is fixed on the support shaft.

[0014] Preferably, both the end face gear and the first lateral gear have a power source. The end face gear has two-way degrees of freedom. The end face gear rotates and meshes with the first lateral gear, so that the output unit can rotate around the first axis and the second axis, so that the multi-directional joint module can achieve multi-directional composite motion through the meshing of a pair of gears.

[0015] Preferably, the end face gear and the first lateral gear are decoupled by controlling their respective drive motors, thereby enabling the output unit to rotate only around a single axis.

[0016] Preferably, the ratio of the number of teeth of the first lateral gear and the second lateral gear is 1, and the ratio of the number of teeth of the end face gear to the number of teeth of the first lateral gear is greater than 1.

[0017] Preferably, the speed ratio of the joint module can be increased by adding a planetary gear or other reduction mechanism to the first lateral gear end.

[0018] Preferably, the output unit is fixedly connected to the second rotating shaft and rotatably connected to the support shaft, and the output unit is provided with a clearance notch for avoiding the first rotating assembly when rotating on the second rotating shaft.

[0019] Preferably, the multi-axis joint module for the robot further includes a first encoder and a second encoder, wherein the first encoder is signal-connected to the first drive motor to measure the rotation angle of the first drive motor, and the second encoder is signal-connected to the second drive motor to measure the rotation angle of the second drive motor.

[0020] The above-described solution of the present invention has the following beneficial effects:

[0021] In this application, the output unit achieves multi-directional rotation in a plane perpendicular to the first axis through the compound motion of the compactly designed first and second rotating assemblies. Utilizing the perpendicularity of the end-face gear pair's axis and its transmission characteristics, multi-directional compound motion can be achieved using only a pair of meshing gears. Decoupling is achieved by controlling the respective drive motors of the end-face gear and the first lateral gear, thus enabling rotation around a single axis. Thanks to the centrally symmetrical layout of the second rotating assembly and the support assembly, this application not only significantly improves the output unit's power performance and load-sharing capacity but also achieves high integration and space utilization. Furthermore, the precise meshing design of the two lateral gears and the end-face gear further ensures the smoothness of the output motion, thereby ensuring the stability and high precision of the joint module under high compactness.

[0022] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0023] Figure 1 This is a perspective view of the present invention;

[0024] Figure 2 This is a top view of the present invention;

[0025] Figure 3 yes Figure 2 A cross-sectional view along the AA direction;

[0026] Figure 4 It is a 3D view after the output unit is hidden.

[0027] [Explanation of Labels in the Attached Image]

[0028] 100-First rotating assembly, 110-End face gear, 120-First rotating part, 130-First drive motor, 140-Accommodating cavity, 150-Support bearing, 160-Base, 170-First bearing

[0029] 200 - Second rotating assembly, 210 - Second rotating shaft, 220 - First lateral gear, 221 - First lateral shaft, 230 - Second drive motor

[0030] 300 - Output unit, 310 - Clearance notch, 320 - Side, 330 - Top

[0031] 400 - Support assembly, 410 - Support shaft, 420 - Second lateral gear, 430 - Second bearing

[0032] C1 - First axial direction, C2 - Second axial direction. Detailed Implementation

[0033] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0034] like Figures 1-4 As shown, an embodiment of the present invention provides a multi-directional joint module for a robot, including a first rotating assembly 100, a second rotating assembly 200, and an output unit 300. The first rotating assembly 100 has an end face gear 110 and is rotatable about a first axial direction C1. The end face gear 110 is perpendicular to and rotates about the first axial direction C1. The second rotating assembly 200 is disposed on the first rotating assembly 100 and rotates about a second axial direction C2, which is orthogonal to the first axial direction C1. The second rotating assembly 200 includes a second rotating shaft 210 that rotates about the second axial direction C2. A first lateral gear 220 is fixed on the second rotating shaft 210, and the teeth of the first lateral gear 220 mesh with the teeth of the end face gear 110. The second rotating shaft 210 is a drive shaft. The output unit 300 is fixedly connected to the second rotating shaft 210 and rotates about the second axial direction C2.

[0035] Reference Figure 3 As shown in the diagram, the first axis C1 is vertical, and the second axis C2 is horizontal. The first rotating assembly 100 rotates clockwise around the vertical axis, and the angle of rotation of the first rotating assembly 100 is less than a full circle. The end face gear 110 located on the first rotating assembly 100 rotates synchronously. At this time, the first lateral gear 220 meshing with the end face gear 110 rotates counterclockwise. The counterclockwise rotating second shaft 210 will drive the output unit 300 to rotate counterclockwise. In order to counteract the counterclockwise movement brought by the second shaft 210, the second shaft 210 actively rotates clockwise, thereby ensuring that the output unit 300 remains relatively stationary in the horizontal direction while rotating around the vertical direction.

[0036] Please continue to refer to this. Figure 3 As shown in the diagram, the second rotating shaft 210 rotates clockwise, causing the first lateral gear 220 to rotate clockwise. With the first lateral gear 220 meshing with the end face gear 110, the first lateral gear 220 can rotate on its own axis in the horizontal direction and revolve around the central axis in the vertical direction. The first rotating assembly 100 rotates counterclockwise around the vertical axis, counteracting the central rotation of the first lateral gear 220, thereby ensuring that the output unit 300 remains relatively stationary in the vertical direction while rotating around the horizontal direction.

[0037] In this application, when the first rotating assembly 100 outputs torque, the end face gear 110 drives the first lateral gear 220 to rotate, causing the first lateral gear 220 to both revolve and rotate. The second drive motor 230 drives the second rotating shaft 210 to actively rotate in the opposite direction to counteract the rotation effect of the first lateral gear 220, thereby increasing the output torque of the output unit 300 and achieving the effect of power compensation.

[0038] The aforementioned first rotating assembly 100 includes a first rotating part 120, which rotates about a first axial direction C1. The aforementioned end face gear 110 is formed on the upper end face of the first rotating part 120, and the teeth of the end face gear 110 are arranged in a ring.

[0039] This application also includes a first drive motor 130, which is used to drive the first rotating part 120 to rotate about the first axis C1. The first drive motor 130 is connected to the first rotating part 120 in a transmission connection.

[0040] In this embodiment, the first drive motor 130 is a servo motor or a stepper motor. The output end of the servo motor or stepper motor is fixedly connected to the first rotating part 120, so that the first rotating part 120 is driven to rotate when the motor is working.

[0041] This embodiment also includes a base 160, which has a cavity with an open top. The first drive motor 130 is disposed inside the cavity, and its output shaft is fixedly connected to the first rotating part 120 outside the cavity. Preferably, a first bearing 170 is provided between the output shaft of the first drive motor 130 and the inner wall of the cavity. The first bearing 170 is used to support the output shaft of the first drive motor 130 and prevent it from tilting.

[0042] This application also includes a second drive motor 230, which is disposed at the center of the first rotating part 120 and is connected to the second rotating shaft 210 for transmission.

[0043] Specifically, the upper end face of the first rotating part 120 has a central protrusion at the center, and the central protrusion has a receiving cavity 140 in the second axial direction C2. The receiving cavity 140 is higher than the height of the end face gear 110. The second drive motor 230 is fixed in the receiving cavity 140. The second drive motor 230 is also a stepper motor or a servo motor. The output shaft of the second drive motor 230 is fixedly connected to the first lateral gear 220 outside the receiving cavity 140.

[0044] Preferably, a first lateral shaft 221 is fixed on the first lateral gear 220, and the first lateral shaft 221 is connected to the output shaft of the second drive motor 230 through a second rotating shaft 210.

[0045] Preferably, the speed ratio of the large joint module can be increased by adding a reduction mechanism such as a planetary gear set between the first lateral shaft 221 and the second rotating shaft 210.

[0046] Preferably, a support bearing 150 is provided between the accommodating cavity 140 and the output shaft of the second drive motor 230.

[0047] Furthermore, this application also includes a support assembly 400, which is disposed on the first rotating assembly 100. The support assembly 400 and the second rotating assembly 200 are centrally symmetrically arranged about the projection of the second rotating assembly 200 onto the end face gear 110 about the first axial direction C1. The support assembly 400 includes a driven support shaft 410 that rotates about the second axial direction C2. A second lateral gear 420 is fixed on the support shaft 410, and the second lateral gear 420 meshes with the teeth of the end face gear 110.

[0048] Specifically, a second bearing 430 is provided on the central protrusion along the second axial direction C2, and the inner ring of the second bearing 430 is sleeved on the support shaft 410 and fixed thereon. The outer ring of the second bearing 430 is fixedly connected to the central protrusion.

[0049] In this embodiment, the tooth ratio of the first lateral gear 220 to the second lateral gear 420 is 1, and the tooth ratio of the end face gear 110 to the first lateral gear 220 is greater than 1.

[0050] The aforementioned output unit 300 includes a side portion 320 and a top portion 330. The side portion 320 is generally cylindrical. A second rotating shaft 210 and a support shaft 410 are respectively connected to the side portion 320, so that the side portion 320 rotates synchronously with the rotation of the second rotating shaft 210 and the support shaft 410. In this embodiment, the second rotating shaft 210 is keyed to the side portion 320. The support shaft 410 is rotatably connected to the side portion 320.

[0051] A clearance notch 310 is also provided on the side portion 320 to prevent interference between the side portion 320 and the first rotating assembly 100 when the side portion 320 rotates about the second axis C2. The top portion 330 is detachably provided on the side portion 320 away from the first rotating assembly 100.

[0052] Preferably, the multi-axis joint module for the robot further includes a first encoder and a second encoder. The first encoder is signal-connected to the first drive motor 130 to measure the rotation angle of the first drive motor 130, and the second encoder is signal-connected to the second drive motor 230 to measure the rotation angle of the second drive motor 230.

[0053] In this application, the end face gear 110 meshes with the first lateral gear 220, and the output unit 300 rotates along the first axis C1 or the second axis C2 through the cooperation of the first rotating assembly 100 and the second rotating assembly 200 in different rotation directions, thus realizing multi-directional rotation function. Decoupling is achieved by controlling the respective drive motors of the end face gear 110 and the first lateral gear 220, thereby enabling rotation around a single axis. The second rotating assembly 200 and the support assembly 400 are centrally symmetrically arranged about the first axis C1, improving the dynamic performance and load-sharing capacity of this application. Simultaneously, the second rotating assembly 200 and the support assembly 400 are mounted on the first rotating assembly 100, making the overall structure more compact. Furthermore, the centrally symmetrical arrangement balances torque transmission and avoids the impact of vibration on this application. The meshing of the first lateral gear 220 and the second lateral gear 420 with the end face gear 110 improves the motion stability and accuracy of the multi-directional joint module.

[0054] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-directional joint module for robots, characterized in that, include: A first rotating assembly (100) has an end face gear (110) that rotates about a first axial direction (C1). The second rotating assembly (200) is disposed on the first rotating assembly (100), and the second rotating assembly (200) rotates about the second axis (C2) as the axis. The first axis (C1) is orthogonal to the second axis (C2). The second rotating assembly (200) includes a second rotating shaft (210) that can rotate about the second axis (C2). A first lateral gear (220) is fixed on the second rotating shaft (210). The first lateral gear (220) meshes with the teeth of the end face gear (110). The output unit (300) is fixedly connected to the second rotating shaft (210) and rotates around the second axis (C2); The first rotating assembly (100) includes a first rotating part (120), which rotates about a first axial direction (C1). The multi-directional joint module also includes a first drive motor (130) for driving the first rotating part (120). The first drive motor (130) is connected to the first rotating part (120) in a transmission connection. The end face gear (110) is formed on the upper end face of the first rotating part (120), and the teeth of the end face gear (110) are arranged in a ring. The first rotating assembly (100) is further provided with a support assembly (400), which is centrally symmetrical with the projection of the second rotating assembly (200) onto the end face gear (110) about the first axis (C1). The support assembly (400) includes a support shaft (410) that rotates about the second axis (C2), and a second lateral gear (420) is fixed on the support shaft (410) for meshing with the teeth of the end face gear (110). The output unit (300) is fixedly connected to the second rotating shaft (210) and rotatably connected to the support shaft (410). The output unit (300) is provided with a clearance notch (310) for avoiding the first rotating assembly (100) when rotating with the second rotating shaft (210).

2. The multi-joint module for robots according to claim 1, characterized in that: The multi-directional joint module also includes a second drive motor (230), which is located at the center of the first rotating part (120) and is connected to the second rotating shaft (210) in a transmission connection.

3. The multi-joint module for robots according to claim 2, characterized in that: The decoupling between the end face gear (110) and the first lateral gear (220) is achieved by coordinating the control of the first drive motor (130) and the second drive motor (230).

4. The multi-joint module for robots according to claim 2, characterized in that: The first rotating part (120) has a accommodating cavity (140) at its center for accommodating the second drive motor (230). A support bearing (150) is provided between the accommodating cavity (140) and the output shaft of the second drive motor (230). The inner ring of the support bearing (150) is fixedly connected to the output shaft of the second drive motor (230), and the outer ring is fixedly connected to the inner wall of the accommodating cavity (140).

5. The multi-joint module for robots according to claim 1, characterized in that: The ratio of the number of teeth of the first lateral gear (220) and the second lateral gear (420) is 1, and the ratio of the number of teeth of the end face gear (110) to the number of teeth of the first lateral gear (220) is greater than 1.

6. The multi-joint module for robots according to claim 2, characterized in that: The multi-axis joint module for the robot also includes a first encoder and a second encoder. The first encoder is signal-connected to the first drive motor (130) to measure the rotation angle of the first drive motor (130), and the second encoder is signal-connected to the second drive motor (230) to measure the rotation angle of the second drive motor (230).

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