Hollow type drive and control integrated intelligent modular joint

Abstract

The invention relates to a hollow type drive and control integrated intelligent modular joint. The hollow type drive and control integrated intelligent modular joint comprises an outer shell, an incremental encoder, an absolute value encoder, a braking device, a harmonic reducer, a motor output shaft, an output flange, a control device, a left end cover, and a hollow wiring pipe. The hollow type drive and control integrated intelligent modular joint is characterized in that the joint further comprises a hollow frameless torque motor; the control device, the incremental encoder, the braking device, the hollow frameless torque motor, the harmonic reducer and the absolute value encoder respectively sequentially sleeve the motor output shaft and the output flange; the output flange, the outer shell and the left end cover form a closed space; the closed space is internally provided with the incremental encoder, the absolute value encoder, the hollow frameless torque motor, the braking device, the harmonic reducer, the motor output shaft, the control device and the hollow wiring pipe; and the hollow wiring pipe penetrates through an inner cavity of the output flange, a flexible gear and a rigid gear of the harmonic reducer, a wave generator, and the motor output shaft.

Description

technical field [0001] The invention is applied in the technical field of modularized mechanical arms, and is specifically a hollow drive-control integrated intelligent modularized joint. Background technique [0002] So far, domestic and foreign robotic arms use traditional mechanical arms, which are relatively bulky and cumbersome to assemble and disassemble. Whether in the service industry or industrial robots, the requirements for robotic arms are becoming more and more stringent nowadays. On the one hand, it needs sufficient flexibility and reliability. On the other hand, it needs to be safe and convenient to assemble, can be assembled and disassembled repeatedly, and has a compact structure. In addition, there are new specific requirements for wiring methods in some special applications, such as in Cables are not allowed on the manipulator shell 1, which will affect the appearance. In response to this technical problem, the method of hollow wiring has been developed a...

AI Technical Summary

Problems solved by technology

The hollow drive-control integrated intelligent modular joint solves the problems of chaotic external wiring, easy entanglement, large quality and volume, and low degree of modularization. It does not need customized hardware and effectively reduces costs.

Images