Electric joint module integrating control of double speed reducers

Abstract

The invention provides an electric joint module integrating control of double speed reducers, which comprises a joint shell, wherein a first mounting end and a second mounting end are respectively arranged at two axial ends of the joint shell; a first harmonic reducer which is fixedly connected with the first mounting end; a frameless motor which is arranged in the joint shell, wherein an outer stator of the frameless motor is fixedly connected with the inner wall of the joint shell; a motor end cover which is fixedly connected with the second mounting end; a supporting bracket which is fixedly connected with the motor end cover; a second harmonic reducer which is fixedly connected with the supporting bracket; a motor shaft which is fixedly connected with an inner rotor of the frameless motor; wherein the two ends of the motor shaft are fixedly connected with the input end of the first harmonic reducer and the input end of the second harmonic reducer respectively. According to the scheme, the electric joint module adopts the double harmonic reducers for power output, the harmonic reducers can be flexibly selected and matched, large output torque and a double-supporting effect can be provided, and the electric joint module is particularly suitable for robot application occasions with high output and high reliability requirements.

Description

technical field [0001] The invention belongs to the technical field of robot joint equipment, and in particular relates to an electric joint module integrated with double reducer control. Background technique [0002] With the continuous development and upgrading of robot technology, the requirements for the reliability and performance of robots are getting higher and higher. As the core component of the robot, the electric joint module has the most direct impact on the weight, size, load capacity, and motion performance of the robot. Therefore, modular and lightweight electric joint modules have become the research trend of various dual-arm robots, mobile robots, wearable robots and other robots. [0003] At present, the electric joint module mainly integrates the motor, reducer, brake, encoder and servo drive controller required for robot control into one joint system. Among them, the reducer adopts a harmonic reducer, which has a simple and compact structure. , large tr...

AI Technical Summary

Problems solved by technology

However, for application scenarios that require high power density (output power to weight ratio) and carrying capacity, especially electric joints used in legged robots, a single reducer may not meet the robot’s motion power requirements, and the other is only a single Support, harmonic bearing load is too large, even the safety and reliability of the robot cannot be guaranteed

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