Robot multi-freedom joint

Abstract

The invention relates to a robot multi-freedom degree joint. Wherein, the inner semi-annular bracket is hinged on the inner side of annular body; the outer semi-annular body is hinged on the outer side of annular body; two connection points between inner semi-annular bracket and annular body, an two connection points between outer semi-annular body and annular body are all on the diameter of annular body; the connecting line between two connection points of inner semi-annular bracket and annular body is vertical to the connecting line of another two connection points; the connection part of inner semi-annular bracket and annular body has the first ultrasonic motor which is mounted at the inner side of inner semi-annular bracket; the connection part of outer semi-annular bracket and annular body has the second ultrasonic motor which is mounted at the inner side of annular body; the output shaft of first ultrasonic motor is connection via key to the annular body while the output shaft of second ultrasonic motor is connection via key to the outer semi-annular body; and both the inner side of outer and inner semi-annular bodies have connection holes.

Description

(1) Technical field [0001] The invention relates to a robot joint, in particular to a robot multi-degree-of-freedom joint. (2) Background technology [0002] Multi-degree-of-freedom joints are mainly used as wrist joints or shoulder joints of robots, and have been the focus of research since the development of robot technology. However, the wrist joint has become a difficult research point due to its flexibility and multi-degree-of-freedom characteristics. At present, the multi-degree-of-freedom motion of most robots is composed of several single-degree-of-freedom joints. Most of the driving mechanisms use electromagnetic servo motors, which require mechanical deceleration mechanisms and braking mechanisms. Therefore, the structure is relatively complex and the volume is relatively large. . (3) Contents of the invention [0003] In order to overcome the disadvantages of complex multi-degree-of-freedom joints of robots in the prior art and relatively large volumes, the pr...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the disadvantages of complex multi-degree-of-freedom joints of robots in the prior art and relatively large volume, the present invention provides a robot multi-degree-of-freedom joints with simple structure, convenient installation, small size, light weight, and high control precision.

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