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Robot revolute joint module with single degree of freedom

A technology of rotary joints and robots, which is applied in the field of robots, can solve the problems of unsatisfactory weight-torque ratio, difficulty in meeting a wide range of needs, and many degrees of freedom of modules, and achieve the effects of light weight, small axial size, and good reliability

Inactive Publication Date: 2010-12-15
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In China, Harbin Institute of Technology has developed a modular joint (patent number: ZL1807032.A), and South China University of Technology has also developed the first generation of rotary joint modules for robots (patent number: ZL200820203560.7), but its structure is relatively Complex, less than ideal weight-to-moment ratio
In short, although several joint modules have been developed, they are either of a single type (such as Amtec's PowerCube), or the price is extremely high (such as the Robotics Research module), or the module has more degrees of freedom (such as TODOM has two freedoms). degree, can only constitute a robot with even degrees of freedom), or the module itself is simple but targeted (such as various micro-joint modules for reconfigurable robots or snake robots), which is difficult to meet the requirements of building any robot of conventional size. extensive demand

Method used

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  • Robot revolute joint module with single degree of freedom
  • Robot revolute joint module with single degree of freedom
  • Robot revolute joint module with single degree of freedom

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Experimental program
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Embodiment Construction

[0018] In order to better understand the present invention, the model will be further described below in conjunction with the accompanying drawings.

[0019] like figure 1 Shown is the appearance of this joint module. There is no direct connection between the joint base 02 and the output sleeve 07 in the figure, but the two can relatively rotate around the central axis through other parts.

[0020] like figure 2 Shown is a cross-sectional view of this joint module. exist figure 2 In , the relative rotation axis of the joint module coincides with the central axis of the module itself. Parts include: servo motor and photoelectric encoder assembly 01, joint base 02, motor fixing screw 03, harmonic reducer input axial fixing screw 04, harmonic reducer output axial connecting screw 05, hexagon socket screw 06. Output sleeve 07, needle roller one-way thrust bearing 08, end cover bearing seat 09, deep groove ball bearing 10, harmonic reducer output disc 11, shaft sleeve 12, ou...

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Abstract

The invention relates to a robot revolute joint module with single degree of freedom. The joint module is provided with a rotation degree of freedom, and a rotation shaft of the articulated module is coincident with or parallel to a central axis of the module so as to form revolute motion. A corresponding control system is matched for realizing the control on motion or torque, and a Hall switch is used for zero position detection. The joint module mainly comprises a servo motor and a photoelectric encoder assembly, a disk-type harmonic speed reducer assembly, a harmonic speed reducer output disk, a joint base, an output sleeve, a bearing and a corresponding end cover. The output shaft of the servo motor is connected with the wave generator of a harmonic speed reducer through a sleeve, the output rigid wheel of the harmonic speed reducer is fixedly connected with the output disk through screws, and the output disc is connected with the output sleeve through a spline, therefore, the transmission of motion and power is realized finally. The module has simple and compact structure and convenient connection with other modules or parts, and can be used in combination way to structure various robots or other electromechanical systems.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a single-degree-of-freedom robot joint module. Background technique [0002] Robot technology has made great progress so far, but there is still a considerable distance from a large number and general application in social production and human life. The reason is that important factors include the function, performance and intelligence of the robot itself, as well as the complexity and high cost of the system. Although robots have great flexibility and elasticity for certain applications, most of the existing robot systems often have only one main function and fixed configuration for specific purposes and occasions, lacking functional expansion and reconfiguration. structural. Synthesizing and integrating multiple functions in one body is an important trend in the development of robotic systems at present and in the future. In addition, it costs a lot to develop a specific robo...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J19/00
Inventor 李湛初朱海飞管贻生张宪民
Owner SOUTH CHINA UNIV OF TECH
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