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CN-121848432-B - Multidirectional joint module for robot

CN121848432BCN 121848432 BCN121848432 BCN 121848432BCN-121848432-B

Abstract

The invention provides a multidirectional joint module for a robot, which relates to a robot joint and comprises a first rotating assembly, a second rotating assembly and an output unit, wherein the first rotating assembly is provided with an end face gear which rotates by taking a first axial direction as an axis, the second rotating assembly is arranged on the first rotating assembly and rotates by taking a second axial direction as an axis, the first axial direction is orthogonal with the second axial direction, the second rotating assembly comprises a second rotating shaft, a first lateral gear is fixed on the second rotating shaft and is meshed with teeth of the end face gear, and the output unit is fixedly connected with the second rotating shaft and rotates by taking the second axial direction as an axis, so that the output unit can realize multidirectional rotation in a plane perpendicular to the first axial direction through compound movement of the first rotating assembly and the second rotating assembly. Thanks to the central symmetrical layout of the second rotating assembly and the supporting assembly, the power performance and the load balancing capability are obviously improved, and the high integration and the space utilization rate are realized.

Inventors

  • HU XIAOLAN
  • SHI ZHAOYAO
  • QU QIUHONG
  • LIU HUIHUA
  • HU BO

Assignees

  • 湖南科技大学
  • 广东德晟智能科技有限公司

Dates

Publication Date
20260512
Application Date
20260313

Claims (6)

  1. 1. A multi-directional joint module for a robot, comprising: A first rotation assembly (100), wherein the first rotation assembly (100) is provided with a face gear (110) which rotates by taking a first axial direction (C1) as an axis; The second rotating assembly (200) is arranged on the first rotating assembly (100), the second rotating assembly (200) rotates around a second axis (C2), the first axis (C1) is orthogonal to the second axis (C2), the second rotating assembly (200) comprises a second rotating shaft (210) which can rotate around the second axis (C2), a first side gear (220) is fixed on the second rotating shaft (210), and the first side gear (220) is meshed with teeth of the end face gear (110); The output unit (300) is fixedly connected with the second rotating shaft (210) and rotates by taking the second shaft (C2) as an axis; the first rotating assembly (100) comprises a first rotating part (120), the first rotating part (120) rotates by taking a first axial direction (C1) as an axis, the multi-directional joint module further comprises a first driving motor (130) for driving the first rotating part (120), the first driving motor (130) is in transmission connection with the first rotating part (120), the face gear (110) is formed on the upper end face of the first rotating part (120), and teeth of the face gear (110) are annularly arranged; The first rotating assembly (100) is further provided with a supporting assembly (400), the supporting assembly (400) and the second rotating assembly (200) are arranged in a central symmetry mode with respect to the projection of the first axial direction (C1) on the face gear (110), the supporting assembly (400) comprises a supporting shaft (410) which rotates with the second axial direction (C2) as an axis, and a second lateral gear (420) which is used for being meshed with teeth of the face gear (110) is fixed on the supporting shaft (410); the output unit (300) is fixedly connected with the second rotating shaft (210) and is rotationally connected with the supporting shaft (410), and the output unit (300) is provided with an avoidance notch (310) for avoiding the first rotating assembly (100) when the second rotating shaft (210) rotates.
  2. 2. The multi-directional joint module for a robot according to claim 1, further comprising a second driving motor (230), wherein the second driving motor (230) is disposed at the center of the first rotating part (120), and the second driving motor (230) is in transmission connection with the second rotating shaft (210).
  3. 3. The multi-directional joint module for a robot according to claim 2, wherein the decoupling between the face gear (110) and the first side gear (220) is performed by cooperative control of the first drive motor (130) and the second drive motor (230).
  4. 4. The multi-directional joint module for a robot according to claim 2, wherein a receiving cavity (140) for receiving the second driving motor (230) is arranged at the center of the first rotating part (120), a support bearing (150) is arranged between the receiving cavity (140) and an output shaft of the second driving motor (230), an inner ring of the support bearing (150) is fixedly connected with the output shaft of the second driving motor (230), and an outer ring of the support bearing is fixedly connected with an inner wall of the receiving cavity (140).
  5. 5. The multi-directional joint module for a robot according to claim 1, wherein the ratio of the number of teeth of the first side gear (220) to the number of teeth of the second side gear (420) is 1, and the ratio of the number of teeth of the face gear (110) to the number of teeth of the first side gear (220) is greater than 1.
  6. 6. The multi-directional joint module for a robot according to claim 2, further comprising a first encoder and a second encoder, wherein the first encoder is in signal connection with the first driving motor (130) to measure a rotation angle of the first driving motor (130), and the second encoder is in signal connection with the second driving motor (230) to measure a rotation angle of the second driving motor (230).

Description

Multidirectional joint module for robot Technical Field The invention relates to the technical field of robot joints, in particular to a multidirectional joint module for a robot. Background The current robot joint module faces fundamental contradiction in the integration of the technology of compactness and multidirectional movement. From the mechanical design aspect, the serial stacking of the joints with single degree of freedom can realize multidirectional movement through multi-stage transmission, but the structural length and the weight are increased, and each stage of transmission introduces accumulated errors, so that the dynamic performance is seriously weakened. While the highly integrated compact design can reduce the volume, the highly integrated compact design is limited by the axis fixing characteristic of the traditional rotary joint, and in order to realize the degree of freedom compound motion of non-orthogonal axes such as pitching, yawing and the like, module stacking is often needed or an external transmission mechanism is relied on, so that the advantage of compactness is essentially counteracted, and additional transmission errors and efficiency losses are introduced. Disclosure of Invention The invention provides a multidirectional joint module for a robot, and aims to solve the problem that integration and compactness of the joint module are difficult to be achieved. To achieve the above object, an embodiment of the present invention provides a multi-directional joint module for a robot, including: A first rotating assembly having a face gear that rotates about a first axial direction; The second rotating assembly is arranged on the first rotating assembly, rotates by taking a second shaft as an axis, is orthogonal to the first shaft and comprises a second rotating shaft which can rotate by taking the second shaft as an axis, and a first side gear is fixed on the second rotating shaft and meshed with teeth of the face gear; and the output unit is fixedly connected with the second rotating shaft and rotates by taking the second shaft as an axis. Preferably, the first rotating assembly comprises a first rotating part, the first rotating part rotates by taking a first axial direction as an axis, the multi-directional joint module further comprises a first driving motor for driving the first rotating part, the first driving motor is in transmission connection with the first rotating part, the face gear is formed on the upper end face of the first rotating part, and teeth of the face gear are annularly arranged. Preferably, the multi-directional joint module further comprises a second driving motor, the second driving motor is arranged at the center of the first rotating part, and the second driving motor is in transmission connection with the second rotating shaft. Preferably, the decoupling between the face gear and the first side gear is achieved by cooperative control of the first and second drive motors. Preferably, a containing cavity for containing the second driving motor is arranged at the center of the first rotating part, a supporting bearing is arranged between the containing cavity and an output shaft of the second driving motor, an inner ring of the supporting bearing is fixedly connected with the output shaft of the second driving motor, and an outer ring of the supporting bearing is fixedly connected with the inner wall of the containing cavity. Through above-mentioned technical scheme, utilize the holding chamber of first rotating part center department, install second driving motor, can reduce the volume of joint module. Preferably, the first rotating assembly is further provided with a supporting assembly, the supporting assembly and the second rotating assembly are arranged in a central symmetry mode with respect to the projection of the first axial direction on the face gear, the supporting assembly comprises a supporting shaft rotating by taking the second axial direction as an axis, and a second lateral gear meshed with teeth of the face gear is fixed on the supporting shaft. Preferably, the face gear and the first side gear are provided with power sources, the face gear has two-way freedom degrees, and the face gear rotates and is meshed with the first side gear, so that the output unit can rotate around the first axial direction and the second axial direction, and the multidirectional joint module can realize multidirectional compound motion through meshing of a pair of gears. Preferably, the face gear and the first side gear are decoupled by controlling respective driving motors, so that the output unit can rotate around a single axial direction only. Preferably, the ratio of the number of teeth of the first side gear to the number of teeth of the second side gear is 1, and the ratio of the number of teeth of the face gear to the number of teeth of the first side gear is greater than 1. Preferably, the first side gear end can also increase the speed ratio relatio