Differential joint assembly, manipulator, robot arm and robot

Abstract

The differential joint assembly, the manipulator, the mechanical arm and the robot are provided by the present disclosure, and the differential joint assembly comprises a first bevel gear, a second bevel gear, a driven bevel gear and an elastic piece; wherein the first bevel gear and the second bevel gear are coaxial and oppositely arranged in tooth surface, the driven bevel gear is meshed with the first bevel gear and the second bevel gear respectively; the elastic piece is located between the first bevel gear and the second bevel gear, and two ends of the elastic piece are fixedly connected with the first bevel gear and the second bevel gear respectively; the elastic piece applies opposite torsional forces to the first bevel gear and the second bevel gear.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a differential joint assembly, a manipulator, a robotic arm, and a robot. Background Technology

[0002] In the field of robotics, joint components are core parts for achieving precision motion and power transmission. These joints typically rely on gear transmission systems to amplify torque, reduce speed, and change the direction of motion. All gear pairs have backlash when meshing.

[0003] During gear meshing transmission in joint components, gear backlash will significantly degrade the positioning accuracy of the joint components and cause delayed dynamic response.

[0004] The content of the background section is merely the technology known to the inventors of this disclosure and does not necessarily represent the prior art in this field. Utility Model Content

[0005] In view of this, the purpose of this application is to overcome the above and / or other problems in the prior art and to provide a differential joint assembly, a manipulator, a robotic arm and a robot that can effectively reduce the adverse effects of gear backlash on the differential joint assembly.

[0006] In a first aspect, this application provides a differential joint assembly, including a first bevel gear, a second bevel gear, a driven bevel gear, and an elastic element; wherein...

[0007] The first bevel gear and the second bevel gear are collinear and their tooth surfaces are opposite to each other. The driven bevel gear meshes with the first bevel gear and the second bevel gear respectively.

[0008] The elastic element is located between the first bevel gear and the second bevel gear, and both ends of the elastic element are fixedly connected to the first bevel gear and the second bevel gear respectively; the elastic element applies a torsional force in opposite directions to the first bevel gear and the second bevel gear.

[0009] In one possible implementation, the differential joint assembly further includes a central shaft, with the first bevel gear and the second bevel gear respectively rotatably connected to the central shaft;

[0010] The elastic element is fitted onto the central shaft.

[0011] In one possible implementation, the end face of the first bevel gear facing the second bevel gear is the first end face, and the end face of the second bevel gear facing the first bevel gear is the second end face.

[0012] The first end face is provided with a first fixing hole; the first end of the elastic element is at least partially located in the first fixing hole and engaged with the first fixing hole; and / or,

[0013] The second end face is provided with a second fixing hole; the second end of the elastic element is at least partially located in the second fixing hole and is engaged with the second fixing hole.

[0014] In one possible implementation, the elastic element is a torsion spring.

[0015] In one possible implementation, within the stroke of the relative rotation of the first bevel gear and the second bevel gear, the diameter of the torsion spring is greater than or equal to the diameter of the central shaft.

[0016] In one possible implementation, the torsion spring has elastic deformation along the axial direction of the central axis.

[0017] In one possible implementation, the elastic element is configured as follows:

[0018] Within the stroke of the relative rotation of the first bevel gear and the second bevel gear, the elastic element is in an elastic deformation state.

[0019] Secondly, this application provides a robotic arm, including any of the differential joint components described above.

[0020] Thirdly, this application provides a robotic arm, including any of the differential joint assemblies described above.

[0021] Fourthly, this application provides a robot, including the robotic arm described above.

[0022] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of this disclosure.

[0023] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this disclosure and, together with the specification, serve to explain the technical solutions of this disclosure. It should be understood that the following drawings only show some embodiments of this disclosure and should not be considered as limiting the scope. Those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0025] Figure 1 A plan view of a differential gear assembly consistent with some embodiments of this disclosure is shown;

[0026] Figure 2 A axial view of a differential gear assembly consistent with some embodiments of this disclosure is shown;

[0027] Figure 3 A schematic diagram of a first bevel gear in a differential gear assembly consistent with some embodiments of this disclosure is shown;

[0028] Figure 4 A schematic diagram of an elastic element in a differential gear assembly consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. The components of the embodiments of this disclosure described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0030] In the description of this disclosure, the terms “center,” “longitudinal,” “transverse,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] In this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0034] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] Furthermore, the term "and / or" in this document merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0037] In the field of robotics, differential joints are core components for achieving precision motion and power transmission. These joints typically rely on gear transmission systems to amplify torque, reduce speed, and change the direction of motion. All gear pairs exhibit backlash during meshing. In the gear meshing transmission process within a differential joint assembly, this backlash significantly degrades the positioning and control accuracy of the assembly.

[0038] Based on the above research, this application provides a differential joint assembly, a manipulator, a robotic arm, and a robot, which can effectively reduce the adverse effects of gear backlash on the differential joint assembly.

[0039] The differential joint assembly, manipulator, robotic arm, and robot provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0040] Please refer to the above. Figure 1 , Figure 2 Figure 3 and Figure 4 As shown, Figure 1 A plan view of a differential gear assembly consistent with some embodiments of this disclosure is shown; Figure 2 A axial view of a differential gear assembly consistent with some embodiments of this disclosure is shown; Figure 3 A schematic diagram of a first bevel gear in a differential gear assembly consistent with some embodiments of this disclosure is shown; Figure 4 A schematic diagram of an elastic element in a differential gear assembly consistent with some embodiments of this disclosure is shown.

[0041] The differential joint assembly provided in this application includes a first bevel gear 1, a second bevel gear 2, a driven bevel gear 3, and an elastic element. The first bevel gear 1 and the second bevel gear 2 have collinear axes and their tooth surfaces are opposite to each other. There is a gap between the first bevel gear 1 and the second bevel gear 2. The driven bevel gear 3 is located in the gap between the first bevel gear 1 and the second bevel gear 2, and the driven bevel gear 3 meshes with both the first bevel gear 1 and the second bevel gear 2. The elastic element 4 is located between the first bevel gear 1 and the second bevel gear 2, and its two ends are fixedly connected to the first bevel gear 1 and the second bevel gear 2, respectively. The elastic element 4 applies torsional forces in opposite directions to the first bevel gear 1 and the second bevel gear 2.

[0042] For ease of description, the two ends of the elastic element 4 are named the first end 41 and the second end 42, respectively. The first end 41 is fixedly connected to the first bevel gear 1, and the second end 42 is fixedly connected to the second bevel gear 2. After elastic deformation, the elastic element 4 allows the first end 41 and the second end 42 to have a tendency to twist in opposite directions. The elastic element 4 can be pre-deformed before being assembled between the first bevel gear 1 and the second bevel gear 2. After the elastic element 4 is assembled to the first bevel gear 1 and the second bevel gear 2, it has a certain preload, which can apply opposite torsional forces to the first bevel gear 1 and the second bevel gear 2.

[0043] There is backlash between the first bevel gear 1 and the driven bevel gear 3. The first end 41 is fixed to the first bevel gear 1 and applies a torsional force to the first bevel gear 1, which can drive the first bevel gear 1 to rotate and make the tooth surface of the first bevel gear 1 closely fit with the tooth surface of the driven bevel gear 3, thereby eliminating the backlash between the first bevel gear 1 and the driven bevel gear 3.

[0044] There is backlash between the second bevel gear 2 and the driven bevel gear 3. The second end 42 is fixed to the second bevel gear 2 and applies a torsional force to the second bevel gear 2, which can drive the second bevel gear 2 to rotate and make the tooth surface of the second bevel gear 2 closely fit with the tooth surface of the driven bevel gear 3, thereby eliminating the backlash between the second bevel gear 2 and the driven bevel gear 3.

[0045] In some embodiments, the first bevel gear 1 is driven by a corresponding reduction gear set, and / or the second bevel gear 2 is driven by a corresponding reduction gear set, with the gears in the reduction gear set meshing sequentially. When the elastic member 4 applies a torsional force to the first bevel gear 1 and the second bevel gear 2 to drive the first bevel gear 1 and the second bevel gear 2 to rotate, the gear backlash in the reduction gear sets corresponding to the first bevel gear 1 and / or the second bevel gear 2 can also be eliminated sequentially.

[0046] The first bevel gear 1 and the second bevel gear 2 can each rotate in both forward and reverse directions. The elastic element 4 can drive the first bevel gear 1 and the second bevel gear 2 to rotate in either the forward or reverse direction, thereby eliminating gear backlash. For ease of description, the direction in which the elastic element 4 drives the first bevel gear 1 and the second bevel gear 2 to rotate is defined as the forward direction. It should be understood that the elastic element 4 applies opposite torsional forces to the first bevel gear 1 and the second bevel gear 2; therefore, with the driven bevel gear 3 as a reference, the forward direction of the first bevel gear 1 is opposite to the forward direction of the second bevel gear 2.

[0047] After eliminating gear backlash using the elastic element 4, if the first bevel gear 1 or the second bevel gear 2 rotates in the forward direction to drive the driven bevel gear 3, the gear backlash between the first bevel gear 1 and the second bevel gear 2 and the transmission bevel gear is eliminated. Thus, the transmission error caused by gear backlash is reduced during gear transmission, improving the motion accuracy and dynamic response speed of the differential joint assembly. It also reduces the impact load on the gears when the first bevel gear 1 and the second bevel gear 2 rotate in the forward direction.

[0048] After eliminating gear backlash using the elastic element 4, if the first bevel gear 1 or the second bevel gear 2 transmits power in the opposite direction, since the backlash between the first bevel gear 1 and the second bevel gear 2 and the drive bevel gear is eliminated in the forward direction, the first bevel gear 1 and the second bevel gear 2 need to idle first until their tooth surfaces abut against the tooth surfaces of the driven bevel gear 3 in the opposite direction. Only then can the first bevel gear 1 and the second bevel gear 2 drive the driven bevel gear 3 to rotate. The idle stroke of the first bevel gear 1 and the second bevel gear 2 is the gear idle travel. For the differential joint assembly after the gear backlash has been eliminated in the forward direction by the elastic element 4, the idle travel between the first bevel gear 1 and the driven bevel gear 3, and the idle travel between the second bevel gear 2 and the driven bevel gear 3, are both relatively fixed values ​​or value ranges. This relatively fixed idle travel can be directly removed as a constant in the gear transmission control system, thereby improving the motion accuracy and control accuracy of the differential joint assembly.

[0049] In the aforementioned differential joint assembly, the elastic element 4 drives the first bevel gear 1 and the second bevel gear 2 to rotate, thereby achieving the effect of pre-tightening the first bevel gear 1 and the second bevel gear 2 with the driven bevel gear 3. This can eliminate gear backlash in the differential joint assembly, improve the positioning accuracy and control accuracy of the differential joint assembly, and enhance the dynamic response speed of the differential joint assembly.

[0050] In some embodiments, the elastic element 4 is configured such that it remains in an elastic deformation state throughout the stroke of the relative rotation of the first bevel gear 1 and the second bevel gear 2. Maintaining the elastic element 4 in an elastic deformation state at all times helps to keep the torque of the elastic element 4 stable and improves its service life.

[0051] In some embodiments, the differential joint assembly further includes a central shaft 5, with a first bevel gear 1 and a second bevel gear 2 rotatably connected to the central shaft 5, and an elastic element 4 fitted onto the central shaft 5. At least a portion of the central shaft 5 is located between the first bevel gear 1 and the second bevel gear 2, and at least a portion of the elastic element 4 is fitted onto the central shaft 5. By providing the central shaft 5, on the one hand, it can help limit the elastic element 4, reducing the risk of deformation or displacement of the elastic element 4 in a direction perpendicular to the axis of the central shaft 5, which could lead to a reduction in torsional force or failure of torsional effect. On the other hand, the central shaft 5 can also assist in positioning the elastic element 4 during assembly, reducing the assembly difficulty of the elastic element 4.

[0052] In some embodiments, the central shaft 5 can be a through shaft passing through the first bevel gear 1 and the second bevel gear 2, and all the elastic elements 4 are fitted onto the central shaft 5. The first bevel gear 1 and the second bevel gear 2 are assembled on the same shaft (central shaft 5), which can ensure that the axes of the first bevel gear 1 and the second bevel gear 2 are collinear during assembly, and can also reduce the assembly difficulty of the first bevel gear 1, the second bevel gear 2 and the elastic elements 4.

[0053] In some other embodiments, the central shaft 5 may also include two segments spaced apart, the two segments of the central shaft 5 being spaced apart from each other and coaxially arranged, the first bevel gear 1 and the second bevel gear 2 being rotatably connected to one segment of the central shaft 5 respectively, and the portion of the elastic member 4 near the first bevel gear 1 and the portion near the second bevel gear 2 being respectively fitted onto the two segments of the central shaft 5.

[0054] Figure 3 The diagram only shows schematics of the first bevel gear 1 in some embodiments. The relevant structure of the second bevel gear in some embodiments can be referred to the structure of the first bevel gear 1.

[0055] In some embodiments, the end face of the first bevel gear 1 facing the second bevel gear 2 is a first end face 11, and the end face of the second bevel gear 2 facing the first bevel gear 1 is a second end face. Optionally, the first end face 11 and the second end face each have a central shaft hole 13, one end of the central shaft 5 passes through the central shaft hole 13 of the first end face 11 and is rotatably connected to the first bevel gear 1, and the other end of the central shaft 5 passes through the central shaft hole of the second end face and is rotatably connected to the second bevel gear 2.

[0056] In some embodiments, the first end face 11 is provided with a first fixing hole 12, and the first end 41 of the elastic member 4 is at least partially located within the first fixing hole 12 and engaged with it. By assembling the elastic member 4 by engaging the first end 41 with the first fixing hole 12 on the first end face 11, assembly difficulty can be reduced and production efficiency improved. Furthermore, inserting the first end 41 of the elastic member 4 into the first fixing hole 12 can improve the firmness of the connection between the first end 41 and the first bevel gear 1. In one example, the depth direction of the first fixing hole 12 is parallel to or at an angle to the axial direction of the first bevel gear 1.

[0057] In some embodiments, a second fixing hole is provided on the second end face, and the second end 42 of the elastic member 4 is at least partially located within the second fixing hole and engaged with it. By assembling the elastic member 4 by engaging the second end 42 with the second fixing hole on the second end face, assembly difficulty can be reduced and production efficiency improved. Furthermore, inserting the second end 42 of the elastic member 4 into the second fixing hole can improve the firmness of the connection between the first end 41 and the first bevel gear 1. In one example, the depth direction of the second fixing hole is parallel to or at an angle to the axial direction of the second bevel gear 2.

[0058] In some embodiments, the first end 41 and the second end 42 of the elastic member 4 can also be fixed to the first end face 11 and the second end face by means of bonding, welding, riveting, etc.

[0059] The connection methods between the first end 41 and the second end 42 and the corresponding bevel gears can be the same or different.

[0060] In some embodiments, the elastic element 4 is a torsion spring. This improves the stability of the torque provided by the elastic element 4 to the first bevel gear 1 and the second bevel gear 2, thereby enhancing the gear backlash elimination effect in the differential joint assembly. Furthermore, it reduces cost and simplifies installation.

[0061] In some embodiments, the end of the torsion spring near the first bevel gear 1 includes a first straight section that is not twisted, which can serve as a first engaging portion. The end of the torsion spring near the second bevel gear 2 includes a second straight section that is not twisted, which can serve as a second engaging portion. The first and second straight sections are integrally formed with the coiled portion of the torsion spring, thereby providing better connection stability between the first and second straight sections and the coiled portion of the torsion spring. This reduces manufacturing and assembly difficulties.

[0062] In some embodiments, within the stroke of the relative rotation of the first bevel gear 1 and the second bevel gear 2, the diameter of the torsion spring is greater than or equal to the diameter of the central shaft 5. Here, the diameter of the torsion spring refers to its inner diameter.

[0063] The first bevel gear 1 and the second bevel gear 2 used in differential joint components typically have specific angular travel. The maximum and minimum deflection angles of the first bevel gear 1 relative to the second bevel gear 2 can be calculated by the angle formation of the first bevel gear 1 and the second bevel gear 2, thereby revealing the maximum and minimum deflection angles of the first end 41 of the torsion spring relative to the second end 42.

[0064] Compared to the initial state, the change in the deflection angle of the first bevel gear 1 relative to the second bevel gear 2 will cause a change in the diameter of the torsion spring. Depending on the initial installation position, the minimum diameter of the torsion spring may occur when the first bevel gear 1 rotates to the maximum deflection angle relative to the second bevel gear 2. Alternatively, the minimum diameter of the torsion spring may also occur when the first bevel gear 1 rotates to the minimum deflection angle relative to the second bevel gear 2. Or, the minimum diameter of the torsion spring may also occur when the first bevel gear 1 rotates to a specific angle between the maximum and minimum deflection angles relative to the second bevel gear 2. By configuring the torsion spring such that its diameter is greater than or equal to the diameter of the central shaft 5 when the torsion spring is in its minimum diameter state, it is ensured that the diameter of the torsion spring is greater than or equal to the diameter of the central shaft 5 throughout the rotational stroke of the first bevel gear 1 and the second bevel gear 2. This reduces the risk that the central shaft 5 may impede the deformation of the torsion spring and affect the normal operation of the differential joint assembly.

[0065] It is worth noting that the minimum diameter of the torsion spring mentioned above refers to the minimum diameter of the torsion spring within the rotational stroke of the first bevel gear 1 and the second bevel gear 2.

[0066] In some embodiments, the torsion spring has elastic deformation along the axial direction of the central shaft 5. The torsion spring may have compressive or tensile elastic deformation along the axial direction of the central shaft 5. When the torsion spring has compressive elastic deformation along the axial direction of the central shaft 5, the torsion spring applies a thrust to the first bevel gear 1 and the second bevel gear 2 that moves away from each other along the axial direction of the central shaft 5. When the torsion spring has tensile elastic deformation along the axial direction of the central shaft 5, the torsion spring applies a tension force to the first bevel gear 1 and the second bevel gear 2 that moves closer together along the axial direction of the central shaft 5.

[0067] For the differential joint assembly in this application embodiment, the displacement of the first bevel gear 1 and the second bevel gear 2 in the axial direction of the central shaft 5 may cause changes in the clearance between the first bevel gear 1 and the driven bevel gear 3 and between the second bevel gear 2 and the driven bevel gear 3 after the gear backlash is eliminated, thereby affecting the motion accuracy of the differential joint assembly.

[0068] By applying a pulling or pushing force along the axial direction of the central shaft 5 to the first bevel gear 1 and the second bevel gear 2, auxiliary limiting of the first bevel gear 1 and the second bevel gear 2 along the axial direction of the central shaft 5 can be achieved, thereby improving the motion accuracy of the differential joint assembly.

[0069] In addition to the torsion spring described in the above example, the elastic element 4 provided in this application embodiment can also be a rubber spring or other springs that can provide torque. In one example, the elastic element 4 includes multiple elastic bands arranged around the central shaft 5. The two ends of each elastic band are fixed to the first end face 11 and the second end face, respectively. The multiple elastic bands are twisted and pre-tightened to each other and apply torsional forces in opposite directions to the first bevel gear 1 and the second bevel gear 2.

[0070] A first bevel gear 1, a second bevel gear 2, and a driven bevel gear 3 form a differential joint. In some embodiments, the first bevel gear 1 and the second bevel gear 2 are rotatably connected to the first joint arm, and the driven bevel gear 3 is connected to the second joint arm. When the first bevel gear 1 and the second bevel gear 2 rotate in opposite directions and at the same speed, the driven bevel gear 3 will rotate around its own axis to achieve rotation of the second joint arm relative to the first joint arm in a first direction. When the first bevel gear 1 and the second bevel gear 2 rotate in the same direction and at the same speed, the driven bevel gear 3 will revolve around the axes of the first bevel gear 1 and the second bevel gear 2 to achieve rotation of the second joint arm relative to the first joint arm in a second direction, where the first direction and the second direction are different. When the first bevel gear 1 and the second bevel gear 2 rotate in the same direction or in opposite directions but at different speeds, the driven bevel gear 3 will simultaneously rotate and revolve to achieve rotation of the second joint arm relative to the first joint arm in both the first and second directions. Through these three different relative rotations, the degree of freedom of rotation of the second joint arm relative to the first joint arm is increased.

[0071] This application also provides a robotic arm, including any of the differential joint components described above.

[0072] In the aforementioned differential joint assembly of the robotic arm, the use of an elastic element to drive the first and second bevel gears to rotate achieves the effect of pre-tightening the first and second bevel gears with the driven bevel gear, which can eliminate gear backlash in the differential joint assembly, improve the positioning accuracy and control accuracy of the differential joint assembly, and improve the dynamic response speed of the differential joint assembly.

[0073] This application also provides a robotic arm, including any of the differential joint assemblies described above.

[0074] In the differential joint assembly of the aforementioned robotic arm, the first and second bevel gears are rotated by an elastic element to achieve the effect of pre-tightening the first and second bevel gears with the driven bevel gear. This can eliminate gear backlash in the differential joint assembly, improve the positioning accuracy and control accuracy of the differential joint assembly, and enhance the dynamic response speed of the differential joint assembly.

[0075] This application also provides a robot, including the robotic arm described above.

[0076] In the differential joint assembly used in the robotic arm of the above-mentioned robot, the first bevel gear and the second bevel gear are driven to rotate by an elastic element to achieve the effect of pre-tightening the first bevel gear and the second bevel gear with the driven bevel gear. This can eliminate gear backlash in the differential joint assembly, improve the positioning accuracy and control accuracy of the differential joint assembly, and improve the dynamic response speed of the differential joint assembly.

[0077] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the differential joint assembly, manipulator, robotic arm, or robot. In other embodiments of this application, the differential joint assembly, manipulator, robotic arm, or robot may include more or fewer components than illustrated, or combine some components, or separate some components, or have different component arrangements.

[0078] The embodiments described above are some, but not all, of the embodiments disclosed herein. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0079] Furthermore, the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure. All should be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

Claims

1. A differential knuckle assembly, characterized by, It includes a first bevel gear, a second bevel gear, a driven bevel gear, and an elastic element; among which, The first bevel gear and the second bevel gear are collinear and their tooth surfaces are opposite to each other. The driven bevel gear meshes with the first bevel gear and the second bevel gear respectively. The elastic element is located between the first bevel gear and the second bevel gear, and both ends of the elastic element are fixedly connected to the first bevel gear and the second bevel gear respectively; the elastic element applies a torsional force in opposite directions to the first bevel gear and the second bevel gear.

2. The differential joint assembly according to claim 1, characterized in that, The differential joint assembly also includes a central shaft, and the first bevel gear and the second bevel gear are respectively rotatably connected to the central shaft; The elastic element is fitted onto the central shaft.

3. The differential joint assembly of claim 2, wherein, The end face of the first bevel gear facing the second bevel gear is the first end face, and the end face of the second bevel gear facing the first bevel gear is the second end face; The first end face is provided with a first fixing hole; the first end of the elastic element is at least partially located in the first fixing hole and engaged with the first fixing hole; and / or, The second end face is provided with a second fixing hole; the second end of the elastic element is at least partially located in the second fixing hole and is engaged with the second fixing hole.

4. The differential joint assembly of claim 2, wherein, The elastic element is a torsion spring.

5. The differential joint assembly of claim 4, wherein, Within the stroke of the relative rotation between the first bevel gear and the second bevel gear, the diameter of the torsion spring is greater than or equal to the diameter of the central shaft.

6. The joint assembly according to claim 4, characterized in that, The torsion spring has elastic deformation along the axial direction of the central axis.

7. The joint assembly of any of claims 1-6, wherein, The elastic element is configured as follows: Within the stroke of the relative rotation of the first bevel gear and the second bevel gear, the elastic element is in an elastic deformation state.

8. A robot, characterized in that Includes the differential joint assembly as described in any one of claims 1 to 7.

9. A robot arm, characterized in that Includes the differential joint assembly as described in any one of claims 1 to 7.

10. A robot, characterized in that Including the robotic arm as described in claim 9.

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