Robot driving joint

Abstract

The invention discloses a robot driving joint. The joint comprises a driving joint shell, a power input shaft, twin coupling outer arc shaped crowned teeth and a power output gear, wherein a first rolling bearing is sleeved outside the power input shaft, and the first rolling bearing and the power input shaft are in eccentric arrangement; the twin coupling outer arc shaped crowned teeth are sleeved outside the first rolling bearing, the first coupling crowned tooth is engaged with an inner crowned gear on the driving joint shell in a small teeth difference mode, and the second coupling crowned tooth is engaged with the power output gear in a small teeth difference mode; a drive motor, a brake, a vibration attenuation unit and a sensor are integrated on the driving joint. By adopting transmission of the twin coupling outer arc shaped crowned teeth, the non-linear fluctuation of a transmission can be attenuated, the strength and rigidity of a carrying gear can be ensured, the system reliability and stability under the actions of overloading and long-term circular alternating stress can be guaranteed; and the functions of driving, torque increasing, vibration attenuating, braking, monitoring and the like are integrated into a whole; in addition, the robot driving joint is multifunctional and has the advantages of concise structure, short transmission chain, high transmission efficiency, small system vibration and noise.

Description

technical field [0001] The invention relates to a driving joint, in particular to a robot driving joint. Background technique [0002] With the rapid development of automobiles, chemicals, electronics, food processing, plastics, research and life sciences, especially in the field of robotic equipment, the transmission accuracy, reliability, small size and vibration reduction of the drive joint transmission system Noise, light weight, maintenance-free and other performances put forward more stringent standards. [0003] In the previous design concept and engineering practice, the drive unit, brake unit, vibration damping components, drive joints, and sensor technology in the transmission system are all designed separately and have a modular structure. This kind of transmission system inevitably needs to consider the connection mode, layout mode, assembly error, etc. of each module, and the system has many components and the overall structure is complex. However, the complex...

AI Technical Summary

Problems solved by technology

However, due to the manufacturing and assembly errors of the driving joint parts, the stiffness fluctuation of the gear pair meshing in and out, the deformation of the bearing or the housing support system, and the wear of the parts, etc., it will inevitably lead to nonlinear fluctuations in the torque and speed during the transmission process. These factors will increase the vibration and noise during the operation of the transmission system and reduce the life of the transmission components and system reliability.

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