Robot revolute joint module with single degree of freedom

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, theoutput 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...

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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

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