Modularized joint for hollow series-connection mechanical arm

Abstract

The invention discloses a modularized joint for a hollow series-connection mechanical arm. The modularized joint comprises a casing, wherein a rear cover is mounted on the casing; an opening is formed in one side of the casing; a support is mounted in the casing; a servo motor and a tensioning mechanism are mounted on the top surface of the support; a gear reducer is fixed on the casing below the support; the tensioning mechanism comprises a bearing seat; a joint tensioning shaft is mounted in the bearing seat; the bearing seat is supported by and fixed on a belt pulley tensioning swing rod; the belt pulley tensioning swing rod is rotationally connected onto the support through a mounting shaft; a power-loss brake is mounted on the bearing seat; one end of the joint tensioning shaft is fixedly connected with the rotor of the power-loss brake through a rotor hub while the other end of the joint tensioning shaft is connected with a belt pulley B; a belt pulley A is connected with the output shaft of the servo motor; a belt pulley C is mounted at the input end of the gear reducer; the belt pulley A, the belt pulley B and the belt pulley C are rotationally connected through a synchromesh gear belt. By adopting the modularized joint, the accurate positioning is realized, and the positional accuracy of a robot is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a modular joint used to construct a hollow series mechanical arm. Background technique [0002] Robotic arms play an extremely important role in production and life. In practical applications, many industrial process links require robotic arms for assembly and extraction operations. The assembly and disassembly of the existing mechanical arm itself are relatively complicated. Many light and agile robotic arms have been designed to undertake more and more assembly and extraction tasks. However, after the miniaturization design of the robotic arm at this stage is realized, its rated load will be reduced a lot accordingly. The contradiction between the robot's structural size and carrying capacity has become a problem to be coordinated. The motion accuracy, carrying capacity, and motion stability of each joint of the manipulator are affected by the positional relation...

AI Technical Summary

Problems solved by technology

Part of its transmission structure and part of its cables are exposed outside, which is not conducive to the protection of components. The module itself is still relatively complicated, and it has not achieved the effect of greatly reducing its own weight while keeping the weight unchanged. Moreover, the connection method of the module is single, which is not easy. Conducive to building a robotic arm with a large range of motion

Without braking device, instantaneous braking cannot be realized

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