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Mechanical arm modular joint with redundant degree of freedom

A technology of modular joints and degrees of freedom, used in manipulators, manufacturing tools, joints, etc., can solve the problems of low joint integration, low load-to-weight ratio, and large volume, and achieve small size, low weight, and high load-to-weight ratio. Effect

Active Publication Date: 2017-08-08
SUZHOU UNIV
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  • Summary
  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a lightweight redundant degree of freedom mechanical arm modular joint with a hollow structure, so as to solve at least one of the problems existing in the current mechanical arm such as large volume, heavy weight, low load-to-weight ratio, and low joint integration.

Method used

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  • Mechanical arm modular joint with redundant degree of freedom
  • Mechanical arm modular joint with redundant degree of freedom
  • Mechanical arm modular joint with redundant degree of freedom

Examples

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Embodiment 1

[0029] refer to Figure 1-Figure 5 , this embodiment provides a modular joint of a redundant degree of freedom manipulator, especially a lightweight redundant degree of freedom manipulator modular joint with a hollow structure, which includes a joint fixing part, a power assembly and an electrical part composition;

[0030] The joint fixing part includes a joint fixing end cover 1 , a driver bracket 3 , a brake fixing housing 4 , a motor fixing housing 12 and a harmonic reducer fixing housing 15 .

[0031] The joint fixing end cover 1 is fixed on the left end of the brake fixing housing 4 to close the left end of the brake fixing housing 4, and in this embodiment, the left end of the brake fixing housing 4 is the redundant degree of freedom The power input end of the modular joint of the mechanical arm; the right end of the fixed brake housing 4 is fixed to the left end of the fixed motor housing 12 , and the fixed housing 15 of the harmonic reducer is fixed to the right end ...

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Abstract

The invention discloses a mechanical arm modular joint with a redundant degree of freedom. The mechanical arm modular joint with the redundant degree of freedom comprises a joint fixing part, a power assembly and an electric part; the joint fixing part comprises a joint fixing end cover, a driver bracket, a brake fixing outer shell, a motor fixing outer shell and a harmonic speed reducer fixing outer shell; the power assembly comprises a joint permanent magnetic brake, a hollow transmission shaft, a direct-current servo motor, a harmonic speed reducer, a harmonic speed reducer output connecting flange and a joint output end cover; the electric part comprises a driver bracket, a joint driver, a Hall sensor and an absolute optical encoder. The mechanical arm modular joint with the redundant degree of freedom disclosed by the invention is compact in design and small in size, and meanwhile, is light in weight, high in integration level, and high in load-to-weight ratio.

Description

technical field [0001] The invention relates to a modular joint of a mechanical arm, in particular to a modular joint of a redundant degree of freedom mechanical arm. Background technique [0002] With the development of robot technology, the application fields of robotic arms are becoming more and more extensive, and have expanded from industrial automation production to aerospace, military and housekeeping services. The continuous expansion of the application field of the manipulator puts forward higher requirements on the performance of the manipulator. However, the current commercialized robotic arm products generally have many problems such as large volume, heavy weight, low load-to-weight ratio, and low joint integration, which largely limit the promotion of robotic arms. Contents of the invention [0003] The purpose of the present invention is to provide a lightweight redundant degree of freedom mechanical arm modular joint with a hollow structure, so as to solve ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
CPCB25J17/00Y02P70/10
Inventor 陈国栋刘一鸣王正王振华许辉孙立宁
Owner SUZHOU UNIV
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