Two-degree-of-freedom differential type mechanical arm joint module

Abstract

The invention discloses a two-degree-of-freedom differential type mechanical arm joint module. The joint module comprises a first power source and a second power source, the first power source and the second power source are installed on a support and connected with a first small synchronous belt wheel and a second small synchronous belt wheel respectively, and a differential transmission mechanism is further installed on the support. A differential transmission structure comprises a driving bevel gear set, a driven bevel gear set and a cross shaft, a first large synchronizing wheel, a second large synchronizing wheel, a speed reducer and two driving bevel gears are installed on a first supporting shaft, two driven bevel gears are installed on a second supporting shaft, and the driven bevel gears are fixedly connected with connecting discs. One connecting disc is fixedly connected with one end of an output connecting rod, the other end of the output connecting rod is connected with a flange plate, and the flange plate sleeves the second supporting shaft and is tightly attached to the connecting discs. According to the scheme of a synchronous belt, the synchronous belt can eliminate gaps and is placed in front of the speed reducer, and errors can be reduced.

Description

technical field [0001] The invention relates to a two-degree-of-freedom differential mechanical arm joint module, which belongs to the field of medical robots. Background technique [0002] The mechanical arm of a medical robot has its unique requirements due to its application in the operating room and its direct contact with the human body. One of the requirements is that the robotic arm should be slender and straight when the robotic arm is straight, which can minimize the blocking of the doctor's (or doctor's assistant's) field of vision by the robotic arm itself. In order to ensure that the robot arm has a slender shape and a strong power output, its joint design is very important. The differential mechanism has the characteristics of compact structure, uniform force, and strong bearing capacity. This patent adopts the scheme of the differential mechanism to realize a high-torque compact mechanical arm joint. [0003] Patent CN 106182071A proposes a design scheme of a...

AI Technical Summary

Problems solved by technology

In this way, on the one hand, the measures to eliminate the gear gap are not considered. On the other hand, the scheme is to connect the gears after deceleration, so that the error of the gears is directly transmitted to the output end.

2: The cross bearing is subject to a strong load and the shaft is easily damaged. The output end of the cross shaft of CN 106182071A is directly connected to the gear through a key to bear all the loads, causing the shaft to be easily damaged

3. The accuracy is low: there is no encoder at the output end (at the miter gear), and the angle of the actual output end cannot be detected, so the error of the transmission mechanism cannot be detected

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