Joint driving structure and bionic spine

Abstract

The utility model discloses a joint driving structure and a bionic spine, the joint driving structure comprises a first driving assembly and a spine structure, and the first driving assembly comprises a first driving ball gear and a first driven bevel gear which are fixedly connected; a first driven ball gear meshed with the first driving ball gear is arranged at the front end of the spine structure, and the first driving assembly comprises a first driving bevel gear and a second driving bevel gear which are meshed with the first driven bevel gear; the first driving bevel gear and the second driving bevel gear are symmetrically arranged on the left side and the right side of the first driven bevel gear, the joint driving structure is compact in structure, and the bionic spine using the joint driving structure can achieve two-degree-of-freedom omni-directional swing.

Description

Technical Field

[0001] This application is used in the field of bionic spine technology, and particularly relates to a joint drive structure and a bionic spine. Background Art

[0002] The bionic spine aims to imitate the structure and function of the animal spine to improve the flexibility, stability, and versatility of the robot. The bionic spine structure is located at the main position of the robot torso and bears most of the robot's weight. The movement of the spine has a great influence on the position of the limb ends. Therefore, there are relatively high requirements for the load and movement accuracy of the spine. The bionic spine usually requires two degrees of freedom of movement to achieve pitching and yawing.

[0003] Currently, most of the spine joint drive methods of robots adopt a series structure, and each degree of freedom of the series structure is driven by a separate motor. This makes the load of each motor large, the overall size increases, and there will be some engineering problems, such as: the motor installed on one side of the joint will generate an eccentric load; the errors of each joint will accumulate, resulting in relatively poor control accuracy; the loads on each motor are uneven, and the motor closer to the base has a greater load, and different parameters need to be adjusted separately or motors of different specifications need to be used, etc.

[0004] The parallel structure has better load capacity and control accuracy than the series structure. However, the existing parallel structures mostly adopt the form of link hinges, with a relatively limited movement range, a relatively complex mechanism, and more space occupation. Summary of the Utility Model

[0005] The purpose of this application is to solve at least one of the technical problems existing in the prior art, and provide a joint drive structure and a bionic spine. The joint drive structure has a compact structure, and the bionic spine can achieve omnidirectional swing with two degrees of freedom.

[0006] The technical solution adopted by this application to solve its technical problems is:

[0007] A joint drive structure includes a first drive assembly and a spine structure. The first drive assembly includes a first drive ball gear and a first driven bevel gear fixedly connected. A first driven ball gear meshing with the first drive ball gear is provided at the front end of the spine structure. The first drive assembly includes a first driving bevel gear and a second driving bevel gear meshing with the first driven bevel gear. The first driving bevel gear and the second driving bevel gear are symmetrically arranged on the left and right sides of the first driven bevel gear.

[0008] In some embodiments of this application, the first drive assembly includes a base. The first driving bevel gear and the second driving bevel gear are symmetrically installed on the left and right sides of the base, and the first driven bevel gear is located at the middle position between the first driving bevel gear and the second driving bevel gear.

[0009] In some embodiments of the present application, a support is fixedly connected inside the base, a shaft core is provided inside the base, the left and right ends of the shaft core are hinged to the support, and the front end of the shaft core is connected to the first driven bevel gear.

[0010] In some embodiments of the present application, a connecting member is provided between the first driving ball gear and the first driven bevel gear. The first driven bevel gear is installed at the front end of the connecting member, and the first driving ball gear is installed at the top end of the connecting member.

[0011] In some embodiments of the present application, a radial shaft is provided at the front end of the shaft core, a mounting hole is provided on the radial shaft, an end cover matching the mounting hole is provided outside the first driven bevel gear, a through hole is provided on the first driven bevel gear, and the shaft core passes through the through hole and is installed with the end cover.

[0012] In some embodiments of the present application, the first driving assembly includes a first motor installed on the left side of the base and a second motor installed on the right side of the base. The output shaft of the first motor is connected to the first driving bevel gear, the output shaft of the second motor is connected to the second driving bevel gear, and the output shafts of the first motor and the second motor are coaxially arranged.

[0013] In some embodiments of the present application, the first driving assembly includes a cover body cooperating with the base, and an opening for the movement of the first driving ball gear is provided on the cover body.

[0014] In some embodiments of the present application, a second driving assembly is included. The second driving assembly includes a second driving ball gear and a second driven bevel gear fixedly connected. A second driven ball gear meshing with the second driving ball gear is provided at the rear end of the spine structure. The second driving assembly includes a third driving bevel gear and a fourth driving bevel gear meshing with the second driven bevel gear. The third driving bevel gear and the fourth driving bevel gear are symmetrically arranged on the left and right sides of the second driven bevel gear.

[0015] In some embodiments of the present application, the spine structure includes a plurality of spine units. The first driven ball gear is provided at the front end of each spine unit, and the second driven ball gear is provided at the rear end of each spine unit. The first driven ball gear and the second driven ball gear mesh with each other.

[0016] The present application also provides a bionic spine, including the joint driving structure in the above embodiments.

[0017] One of the technical solutions in the above technical solutions has at least one of the following advantages or beneficial effects: In this joint drive structure, the first driving bevel gear and the second driving bevel gear are arranged to drive the first driven bevel gear and the first driving ball gear to move, so as to realize the two-degree-of-freedom rotation of the first driving ball gear. The first driving ball gear meshes with the first driven ball gear of the spine structure to drive the connected spine structure to swing. This joint drive adopts the principle of parallel differential transmission. When the first driving bevel gear and the second driving bevel gear rotate at the same speed in the same direction, the output member will rotate along the Y-axis, that is, make a pitching motion relative to the base; when the two driving bevel gears rotate at the same speed in opposite directions, the first driving ball gear rotates along the X-axis, that is, make a yaw motion; when the first driving bevel gear and the second driving bevel gear rotate at different speeds, the first driving ball gear makes a composite motion of rotating along the Y-axis and the X-axis at the same time, realizing the omnidirectional rotation motion of the first driving ball gear with two degrees of freedom, so as to drive the spine to make an omnidirectional bending swing with two degrees of freedom. This joint drive structure has the advantages of large load, high precision, compact structure, uniform motor load, easy to control, good quality distribution and structural stress conditions.

[0018] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0020] Figure 1 is an exploded view of an embodiment of the bionic spine of the present application;

[0021] Figure 2 is one of the three-dimensional views of the partial structure of the joint drive structure of the present application;

[0022] Figure 3 is the second schematic diagram of the partial structure of the joint drive structure of the present application;

[0023] Figure 4 is the third schematic diagram of the partial structure of the joint drive structure of the present application;

[0024] Figure 5 is the fourth schematic diagram of the partial structure of the joint drive structure of the present application;

[0025] Figure 6 is the three-dimensional view of the shaft core of the present application;

[0026] Figure 7 is the three-dimensional view of an embodiment of the bionic spine of the present application;

[0027] Figure 8It is the fifth perspective view of the partial structure of the joint driving structure of the present application. Detailed implementation manners

[0028] This section will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the accompanying drawings. The function of the drawings is to supplement the description in the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present application. However, it should not be construed as a limitation on the protection scope of the present application.

[0029] In the present application, when directions (up, down, left, right, front, and back) are described, it is only for the convenience of describing the technical solution of the present application, rather than indicating or implying that the technical features referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present application.

[0030] In the present application, the meaning of "several" is one or more, the meaning of "multiple" is two or more, and "greater than", "less than", "exceeding", etc. are understood not to include the original number; "above", "below", "within", etc. are understood to include the original number. In the description of the present application, if "first" and "second" are described, they are only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0031] In the present application, unless otherwise clearly defined, terms such as "arranged", "installed", "connected", etc. should be understood in a broad sense. For example, they can be directly connected, or indirectly connected through an intermediate medium; they can be fixedly connected, or detachably connected, or integrally formed; they can be mechanically connected, or electrically connected or capable of communicating with each other; they can be the communication inside two elements or the interaction relationship between two elements. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific content of the technical solution.

[0032] Among them, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 7 give the reference direction coordinate system of the embodiments of the present application. The embodiments of the present application will be described below with reference to the directions shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 7 shown.

[0033] The embodiments of the present application provide a joint driving structure. Refer to Figures 1 to 8, including a first drive assembly 100 and a spine structure 200. The first drive assembly 100 includes a fixedly connected first drive ball gear 110 and a first driven bevel gear 120. A first driven ball gear 210 meshing with the first drive ball gear 110 is provided at the front end of the spine structure 200. The first drive assembly 100 includes a first driving bevel gear 130 and a second driving bevel gear 140 meshing with the first driven bevel gear 120. The first driving bevel gear 130 and the second driving bevel gear 140 are symmetrically arranged on the left and right sides of the first driven bevel gear 120.

[0034] For this joint drive structure, by setting the first driving bevel gear 130 and the second driving bevel gear 140 to drive the first driven bevel gear 120 and the first drive ball gear 110 to move, the first drive ball gear 110 can achieve two-degree-of-freedom rotation. The first drive ball gear 110 meshes with the first driven ball gear 210 of the spine structure 200 to drive the connected spine structure 200 to swing. This joint drive adopts the principle of parallel differential transmission. When the first driving bevel gear 130 and the second driving bevel gear 140 rotate at the same speed in the same direction, the output member will rotate along the Y-axis, that is, make a pitching motion relative to the base; when the two driving bevel gears rotate at the same speed in opposite directions, the first drive ball gear 110 rotates along the X-axis, that is, makes a yawing motion; when the first driving bevel gear 130 and the second driving bevel gear 140 rotate at different speeds, the first drive ball gear 110 makes a combined motion of rotating along the Y-axis and the X-axis at the same time, realizing the two-degree-of-freedom omnidirectional rotational motion of the first drive ball gear 110, thereby driving the spine to make a two-degree-of-freedom omnidirectional bending swing. This joint drive structure has the advantages of large load, high precision, compact structure, uniform motor load, easy control, good mass distribution and structural stress conditions.

[0035] The first drive assembly 100 includes a base 150. The first driving bevel gear 130 and the second driving bevel gear 140 are symmetrically installed on the left and right sides of the base 150. The first driven bevel gear 120 is installed at the central position inside the base 150. The first driven bevel gear 120 is located at the middle position between the first driving bevel gear 130 and the second driving bevel gear 140.

[0036] The first driven bevel gear 120 is formed by cutting off a part from the top and bottom of a standard bevel gear, leaving only the teeth on the left and right sides, reducing the volume under the condition of meeting the transmission requirements.

[0037] A support 151 is fixedly connected inside the base 150. An axle core 170 is provided inside the base 150. The left and right ends of the axle core 170 are hinged to the support 151. The front end of the axle core 170 is connected to the first driven bevel gear 120. Axial holes are provided at the left and right ends of the axle core 170 and are hinged to the support 151 through a rotating shaft. The first driven bevel gear 120 and the support 151 are arranged front and back. On the basis of ensuring that the support 151 can be stably installed on the base and the first driven bevel gear 120 has sufficient movement range, interference between the two is avoided.

[0038] A connecting member 180 is provided between the first driving ball gear 110 and the first driven bevel gear 120. The first driven bevel gear 120 is installed at the front end of the connecting member 180. The first driving ball gear 110 is installed at the top end of the connecting member 180. The connecting member 180 is an L-shaped connecting flange.

[0039] In some embodiments, a radial shaft 171 is provided at the front end of the axle core 170. The axis of the radial shaft 171 and the axis of the axial hole are vertically intersecting, and the intersection point is the rotation center. In the initial position, the radial shaft is coaxial with the X-axis. However, since the axle core 170 can rotate along the axial hole, the orientation of the radial shaft will change, but its axle core 170 will always be located in the plane perpendicular to the Y-axis passing through the rotation center. Therefore, it is called a radial shaft. An installation hole is provided on the radial shaft. An end cover 121 that cooperates with the installation hole is provided outside the first driven bevel gear 120. A through hole is provided on the first driven bevel gear 120. The axle core 170 passes through the through hole and is installed with the end cover 121, enabling the first driven bevel gear 120 to rotate relative to the axle core 170. Preferably, a bearing can be installed between the radial shaft and the first driven bevel gear 120, that is, the bearing is installed in the through hole. Refer to Figure 6 and Figure 7 , the two axes of the axle core 170 are orthogonal, and the ortho-intersection point is the rotation center. The cone vertices of the first driving bevel gear 130, the second driving bevel gear 140, and the first driven bevel gear 120 are at this ortho-intersection point.

[0040] The first driving assembly 100 includes a first motor 152 installed on the left side of the base 150 and a second motor 153 installed on the right side of the base 150. The output shaft of the first motor 152 is connected to the first driving bevel gear 130. The output shaft of the second motor 153 is connected to the second driving bevel gear 140. The output shafts of the first motor 152 and the second motor 153 are coaxially arranged. The left and right ends of the axle core 170 are hinged to the support 151 through a rotating shaft. The rotating shaft is coaxially arranged with the output shafts of the first motor 152 and the second motor 153.

[0041] Motor mounting holes are symmetrically arranged on the base 150. In actual engineering, except for necessary mounting holes and the like, hollowing out or adding structures can be carried out under the condition of ensuring structural strength and avoiding interference, and only the geometric relationship of the mounting hole positions needs to be ensured.

[0042] See Figure 2 , the first driving assembly 100 includes a cover body 160 that cooperates with the base 150. An opening 161 for the movement of the first driving ball gear 110 is formed on the cover body 160, providing space for the meshing and transmission of the first driving ball gear 110 and the first driven ball gear 210 at the front end of the spine structure 200. Specifically, the shape of the opening is designed according to the spine structure 200 and is designed as a triangle here to avoid interference between the spine structure 200 and the cover body 160 during movement, enabling the spine structure 200 to have a greater movement range.

[0043] See Figure 1 , including a second driving assembly 300. The second driving assembly 300 includes a second driving ball gear 310 and a second driven bevel gear fixedly connected. A second driven ball gear 220 meshing with the second driving ball gear 310 is provided at the rear end of the spine structure 200. The second driving assembly 300 includes a third driving bevel gear and a fourth driving bevel gear 240 that mesh with the second driven bevel gear. The third driving bevel gear and the fourth driving bevel gear are symmetrically arranged on the left and right sides of the second driven bevel gear.

[0044] The spinal structure 200 includes a plurality of spinal units 230. A first driven spherical gear 210 is provided at the front end of each spinal unit 230, and a second driven spherical gear 220 is provided at the rear end of each spinal unit 230. The first driven spherical gear 210 and the second driven spherical gear 220 mesh with each other (this is the connection method between each spinal unit 230 inside the spinal structure 200). It can be understood that the spherical gear types of the first driving spherical gear 110, the second driving spherical gear 310, the first driven spherical gear 210, and the second driven spherical gear 220 are the same, with the same type, number of teeth, and module. The first driven spherical gear 210 and the second driven spherical gear 220 are an involute annular tooth spherical gear pair. The mutually meshing first driven spherical gear 210 and second driven spherical gear 220 can be divided into a convex spherical gear and a concave spherical gear. Therefore, when the spinal structure is connected to the driving structure, if the end driven spherical gear at the end connected to the spinal structure is a concave spherical gear, then the driving spherical gear on the connected driving component must be a convex spherical gear. Conversely, if the end driven spherical gear is a convex spherical gear, then the driving spherical gear on the connected driving component must be a concave spherical gear. After the installation and connection are completed, under the drive of the motor, through the transmission of the differential bevel gear train, the driving spherical gear can perform an omnidirectional rotation with two degrees of freedom, and then through the transmission of the spherical gear pair composed of the driving spherical gear and the end driven spherical gear on the spinal structure, the spine is driven to perform an omnidirectional swing with two degrees of freedom, realizing a bionic mechanical spine mechanism that can pitch and roll in any direction like a biological spine.

[0045] The present application also provides a bionic spine. Refer to Figure 1 and Figure 7 , the bionic spine includes the joint driving structure in the above embodiment. The main body of the bionic spine is the spinal structure, which realizes functions such as connection, bending, and load-bearing like a biological spine. The first driving module 100 and the second driving component 300 are used to provide the force required for the spinal structure 200 and drive the spine to move. Under the drive of the first driving module 100 and the second driving component 300, the spinal structure 200 can realize a bending movement with two degrees of freedom, enabling it to bend in all directions and realizing pitching and rolling movements like a biological spine. The first driving module 100 and the second driving component 300 are both installed at the front end and the rear end of the spinal structure to improve the load capacity, or only the first driving module 100 or the second driving component 300 can be installed.

[0046] In the initial position, the normal line of the first driving ball gear 110 lies on the Z-axis, and the spine structure is also in a straight state. During installation, the central axis of the spine structure is collinear with the Z-axis of the driving module, that is, the normal lines of the first driving ball gear 110 and the first driven ball gear 210 at the end are collinear, so that the first driven ball gear 210 after installation can be correctly meshed and transmitted. In addition, after installation, the center distance between the first driving ball gear 110 and the first driven ball gear 210 at the end is equal to the sum of the radii of the two pitch circles, that is, the distance that meets the correct meshing standard.

[0047] In the description of this specification, the description with reference to terms such as "example", "embodiment" or "some embodiments" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0048] Of course, the present invention is not limited to the above embodiments. Those skilled in the art can also make equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A joint driving structure, characterized in that: It includes a first driving component and a spinal structure, the first driving component includes a first driving ball gear and a first driven bevel gear that are fixedly connected, the front end of the spinal structure is provided with a first driven ball gear that meshes with the first driving ball gear, the first driving component includes a first active bevel gear and a second active bevel gear that meshes with the first driven bevel gear, and the first active bevel gear and the second active bevel gear are symmetrically arranged on the left and right sides of the first driven bevel gear.

2. The joint driving structure according to claim 1, characterized in that: The first driving assembly includes a base, the first driving bevel gear and the second driving bevel gear are symmetrically mounted on the left and right sides of the base, and the first driven bevel gear is located in the middle of the first driving bevel gear and the second driving bevel gear.

3. The joint driving structure according to claim 2, characterized in that: A support is fixedly connected inside the base, an axis core is arranged inside the base, left and right ends of the axis core are hinged to the support, and the front end of the axis core is connected to the first driven bevel gear.

4. The joint driving structure according to claim 3, characterized in that: A connecting piece is provided between the first driving ball gear and the first driven bevel gear. The first driven bevel gear is mounted on the front end of the connecting piece, and the first driving ball gear is mounted on the top end of the connecting piece.

5. The joint driving structure according to claim 4, characterized in that: A radial shaft is provided at the front end of the shaft core, a mounting hole is provided on the radial shaft, an end cover matching the mounting hole is provided on the outside of the first driven bevel gear, a through hole is provided on the first driven bevel gear, and the shaft core passes through the through hole and is mounted on the end cover.

6. The joint driving structure according to claim 2, characterized in that: The first driving assembly includes a first motor installed on the left side of the base and a second motor installed on the right side of the base, the output shaft of the first motor is connected to the first active bevel gear, the output shaft of the second motor is connected to the second active bevel gear, and the output shaft of the first motor and the output shaft of the second motor are coaxially arranged.

7. The joint driving structure according to claim 2, characterized in that: The first driving assembly includes a cover body matched with the base, and the cover body is provided with an opening for the first driving ball gear to move.

8. The joint driving structure according to claim 1, characterized in that: It includes a second driving assembly, which includes a second driving ball gear and a second driven bevel gear that are fixedly connected. The rear end of the spinal structure is provided with a second driven ball gear that meshes with the second driving ball gear. The second driving assembly includes a third driving bevel gear and a fourth driving bevel gear that mesh with the second driven bevel gear. The third driving bevel gear and the fourth driving bevel gear are symmetrically arranged on the left and right sides of the second driven bevel gear.

9. The joint driving structure according to claim 8, characterized in that: The spine structure includes a plurality of spine units, the front end of each spine unit is provided with the first driven ball gear, the rear end of each spine unit is provided with the second driven ball gear, and the first driven ball gear and the second driven ball gear are meshed with each other.

10. A bionic spine, characterized in that: The invention comprises the joint driving structure according to any one of claims 1 to 9.

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