A dual-arm robot modular joint with hollow structure

Abstract

The invention discloses a hollow structure double-arm robot modular joint used in the field of industrial robots. The mechanical arm is composed of seven similar modular joints. The joint includes: an input device and an output device. The input device includes: hollow motor rotor, rotor axial positioning ring, second motor bearing, hollow brake rotor, O-ring, motor stator mounting flange, main drive shaft, motor rotor, first motor bearing, bearing Gland and harmonic reducer wave generator; the output device includes: joint output flange, output bearing, mounting flange, absolute encoder rotor, sealed bearing and harmonic reducer steel wheel; the input device and The output device is connected through a mounting flange. The advantage of the invention is that it can solve those robot products with many varieties, small batches and complex structures, and increase the load-to-weight ratio of the joints on the basis of satisfying the above conditions, and improve the rotation accuracy of the joints.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a modular joint of a double-arm robot with a hollow structure. Background technique [0002] At present, industrial robots in the form of traditional single arms have achieved good development and application in my country, and have widely replaced manual operations in the manufacturing industry for stamping, casting, welding, painting, palletizing, etc., but in some areas that require precision assembly and In the high-tech occasions of micro-operation, especially in the occasions where the process is complicated, the assembly precision is high, and the work efficiency is high, the traditional robot encounters great obstacles in the actual application. It is almost difficult or even impossible to apply, and the cost is very high. [0003] In recent years, major foreign industrial robot manufacturers have set their sights on humanoid dual-arm industrial robots for manufacturing, b...

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Problems solved by technology

[0002] At present, industrial robots in the form of traditional single arms have achieved good development and application in my country, and have widely replaced manual operations in the manufacturing industry for stamping, casting, welding, painting, palletizing, etc., but in some areas that require precision assembly and In the high-tech occasions of micro-operation, especially in the occasions where the process is complicated, the assembly precision is high, and the work efficiency is high, the traditional robot encounters great obstacles in the actual application, it is almost difficult or even impossible to apply, and the cost is very high

[0003] In recent years, major foreign industrial robot manufacturers have set their sights on humanoid dual-arm industrial robots for manufacturing, but they still cannot meet people's requirements for high flexibility and high intelligence robots, and domestic robots also have mechanical arm joints. Large size, low load-to-weight ratio, low transmission accuracy, and exposed cables outside the joint, which affect the signal transmission of the joint and the life of the joint. Therefore, the development is highly flexible and intelligent like a human being. Coordinated operation of robots with arms is the development direction of the next generation of industrial robots. After the successful development, it will bring revolutionary changes to industrial robots, and will greatly promote the development of industrial and service robots in my country. value, and has important social value

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