A dual-motor driven modular joint and a robotic arm

Abstract

The invention relates to a dual-motor driven modular joint, which includes: an output shaft is rotationally connected to a housing and is fixedly connected to an output gear; the output shaft includes a through hole extending along the axial direction, and the housing includes through holes corresponding to the through holes. Holes and perforations are used to place circuits; the output shaft also includes a radial channel, which cooperates with the zero-position detection module to determine the zero position of the output shaft; both the first gear and the second gear mesh with the output gear, and the first gear and the third gear The two gears do not interfere; the first servo motor connects the first gear and the first motor encoder; the second servo motor connects the second gear and the second motor encoder. The dual-motor driven modular joint provided by the present invention can eliminate the gap between the output gear and the driving device, making the transmission more precise. Even if the gears are worn, the joint can still operate without gaps. The zero position detection module is used to confirm the zero position of the output shaft. Perforations and through holes allow various cables to be routed inside the joint, making the overall structure simple and compact.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a dual-motor driven modular joint. [0002] The invention also relates to a mechanical arm. Background technique [0003] With the rapid development of automation and semiconductor technology and the continuous increase of labor costs, robotic arms have played a pivotal role in many fields. As the core component of the manipulator, the performance of the high-precision reducer seriously affects the performance of the whole machine of the manipulator. Our country's research and development of products in this area is seriously behind the world's advanced level. [0004] Although traditional industrial robotic arms have been widely used, they have few types, fixed configurations, long development cycles, and high prices. Reconfigurable modular manipulators can well solve the difficulties faced by existing industrial manipulators. It can not only meet the individual needs of ent...

AI Technical Summary

Problems solved by technology

[0006] The deficiencies in the above patents: on the one hand, the mechanical structure of the prior art is complex, which puts forward high requirements for machining and assembly, and the joint integration degree is low

On the other hand, in the existing technology, although one joint module can realize two-degree-of-freedom movement, it needs three motors to cooperate to complete the movement.

This leads to an exponential increase in the complexity of the control algorithm, and also puts forward high requirements on the real-time performance of the control system and sensor accuracy.

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