Differential joint device for robot, and method for diagnosing state of differential joint device for robot
A differential joint device for a robot includes a first shaft extending in a first direction, a second shaft connected to the first shaft and extending in a second direction vertical to the first direction, a first friction wheel rotatably disposed on one side of the first shaft, a second friction wheel rotatably disposed on another side of the first shaft, a third friction wheel rotatably disposed at one end of the second shaft, the third friction wheel being in contact with the first friction wheel and the second friction wheel, a pitch output encoder disposed to detect a rotation angle of the first shaft, a roll output encoder disposed to detect a rotation angle of the third friction wheel, a first driver configured to rotate the first friction wheel, and a second driver configured to rotate the second friction wheel.
1 . A differential joint device for a robot, the differential joint device comprising:
a first shaft extending in a first direction;
a second shaft connected to the first shaft and extending in a second direction vertical to the first direction;
a first friction wheel rotatably disposed on one side of the first shaft;
a second friction wheel rotatably disposed on another side of the first shaft;
a third friction wheel rotatably disposed at one end of the second shaft, wherein the third friction wheel is in contact with the first friction wheel and the second friction wheel;
a pitch output encoder disposed to detect a rotation angle of the first shaft;
a roll output encoder disposed to detect a rotation angle of the third friction wheel;
a first driver configured to rotate the first friction wheel; and
a second driver configured to rotate the second friction wheel.
2 . The differential joint device of claim 1 , wherein the first driver comprises:
a first motor;
a first encoder configured to detect a rotation angle of the first motor; and
a first power transmitter configured to transmit rotation of the first motor to the first friction wheel, and
wherein the second driver comprises:
a second motor;
a second encoder configured to detect a rotation angle of the second motor; and
a second power transmitter configured to transmit rotation of the second motor to the second friction wheel.
3 . The differential joint device of claim 2 , wherein each of the first power transmitter and the second power transmitter comprises a gear power transmitter and a belt power transmitter.
4 . The differential joint device of claim 2 , further comprising a pitch output error detection part configured to identify a difference value between an actual output value of the pitch output encoder and an expected output value of the pitch output encoder.
5 . The differential joint device of claim 4 , wherein the expected output value of the pitch output encoder is calculated by a following formula:
the expected output value of the pitch output encoder=½×reduction ratio×(rotation angle of the first encoder+rotation angle of the second encoder).
6 . The differential joint device of claim 4 , further comprising:
a processor configured to identify the expected output value of the pitch output encoder,
wherein the processor is further configured to output an alarm to an outside based on the difference value between the actual output value of the pitch output encoder and the expected output value of the pitch output encoder exceeding a pitch reference error.
7 . The differential joint device of claim 2 , further comprising a roll output error detection part configured to calculate a difference value between an actual output value of the roll output encoder and an expected output value of the roll output encoder.
8 . The differential joint device of claim 7 , wherein the expected output value of the roll output encoder is calculated by a following formula:
the expected output value of the roll output encoder=½×friction wheel reduction ratio×reduction ratio×(rotation angle of the first encoder−rotation angle of the second encoder).
9 . The differential joint device of claim 7 , further comprising:
a processor configured to identify the expected output value of the roll output encoder,
wherein the processor is further configured to output an alarm to an outside based on the difference value between the actual output value of the roll output encoder and the expected output value of the roll output encoder exceeding a roll reference error.
10 . The differential joint device of claim 1 , wherein each of the first friction wheel, the second friction wheel, and the third friction wheel is formed as a cone friction wheel.
11 . The differential joint device of claim 1 , further comprising:
an encoder shaft disposed in parallel with the second shaft and formed to rotate in the same manner as the third friction wheel,
wherein the roll output encoder is disposed to detect a rotation angle of the encoder shaft.
12 . The differential joint device of claim 11 , further comprising:
a first encoder pulley disposed at one end of the third friction wheel facing the first shaft;
a second encoder pulley disposed at one end of the encoder shaft;
an encoder belt disposed to transmit rotation of the first encoder pulley to the second encoder pulley; and
a magnet disposed on another end of the encoder shaft.
13 . The differential joint device of claim 1 , further comprising:
a first friction force adjuster configured to adjust a frictional force between the first friction wheel and the third friction wheel; and
a second friction force adjuster configured to adjust a frictional force between the second friction wheel and the third friction wheel.
14 . The differential joint device of claim 13 , wherein each of the first friction force adjuster and the second friction force adjuster comprises:
a pressing member disposed at the first shaft and pressing the first friction wheel or the second friction wheel toward the third friction wheel;
a screw part provided at one end of the first shaft; and
an adjusting nut fastened to the screw part of the first shaft.