Dual-feedback compact type high-precision hollow integrated joint

Abstract

A dual-feedback compact type high-precision hollow integrated joint comprises a harmonic reducer (1), a frameless motor (2), a brake (3), an incremental encoder (4), an absolute encoder (5), a high-speed motor shaft (6), a low-speed hollow shaft (7), an output flange (8), motor shaft bearings (9 and 10), a hollow shaft bearing (11), a driver (12), a shell (13), a first bearing stand (14), a secondbearing stand (15), a third bearing stand (17), an inter-joint connection cable (16) and a transitional shaft (18), wherein a motor rotor (22), the incremental encoder (4) and the brake (3) are installed on the high-speed motor shaft (6), and the absolute encoder (5) is installed on the low-speed hollow shaft (7). According to the dual-feedback compact type high-precision hollow integrated joint,the control precision is high, joints are hollow so as to achieve wiring, the structure is compact, the degree of integration is high, the weight is low, and the power density is high; and as the reliable brake is provided, the overall structure curve is smooth and has no corner, safety and reliability are achieved, and the man-machine collaboration is good.

Description

technical field [0001] The invention relates to a robot joint. Background technique [0002] The structure of traditional robots is large and bulky, the ratio of load to weight is low, the risk of human-computer interaction is high, the joint integration of traditional robots is low, the joints are thick, and the external wiring of control lines is numerous and complicated, which cannot meet the needs of space, battlefield, etc. , family and service industry and other working environments. [0003] The lightweight robot joints adopt hollow wiring, the body structure is light in weight, and the load to weight ratio is high. It can be well applied in modern services, homes, spaces and other fields. It can solve the above problems and greatly reduce the application cost of the robotic arm. However, the existing integrated joints on the market do not have servo control with double feedback of speed and position. The joints are not smooth enough, have edges and corners or leakin...

AI Technical Summary

Problems solved by technology

However, the existing integrated joints on the market do not have servo control with double feedback of speed and position. The joints are not smooth enough, have edges and corners or leaking screws, which may hurt people, and there is no reliable joint brake, which makes people and cooperation poor. Single joint The weight is heavy, and the adaptability of the robotic arm still needs to be improved

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