Double-arm robot modularized joint with hollow structure

Abstract

The invention discloses a double-arm robot modularized joint with a hollow structure, belonging to the field of industrial robots. A mechanical arm is composed of seven similar modularized joints. The joint comprises an input device and an output device, wherein the input device comprises a hollow motor rotor, a rotor axial positioning ring, a third motor bearing, a hollow brake rotor, an O-shaped sealing ring, a motor stator mounting flange, a main transmission shaft, a motor rotor, a second motor bearing, a bearing pressing cover and a harmonic reducer wave generator; the output device comprises a joint output flange, a first output bearing, a mounting flange, an absolute value encoder rotor, a sealing bearing and a harmonic reducer steel wheel; the input device is connected with the output device by the mounting flange. The double-arm robot modularized joint has the advantages that the problems of robot products with more varieties, small batches and complicated structures can be solved; the load dead-weight ratio of the joint can be increased on the basis of meeting the conditions, and the rotation precision of the joint is improved.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a modular joint of a double-arm robot with a hollow structure. Background technique [0002] At present, industrial robots in the form of traditional single arms have achieved good development and application in my country, and have widely replaced manual operations in the manufacturing industry for stamping, casting, welding, painting, palletizing, etc., but in some areas that require precision assembly and In the high-tech occasions of micro-operation, especially in the occasions where the process is complicated, the assembly precision is high, and the work efficiency is high, the traditional robot encounters great obstacles in the actual application. It is almost difficult or even impossible to apply, and the cost is very high. [0003] In recent years, major foreign industrial robot manufacturers have set their sights on humanoid dual-arm industrial robots for manufacturing, b...

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Problems solved by technology

[0002] At present, industrial robots in the form of traditional single arms have achieved good development and application in my country, and have widely replaced manual operations in the manufacturing industry for stamping, casting, welding, painting, palletizing, etc., but in some areas that require precision assembly and In the high-tech occasions of micro-operation, especially in the occasions where the process is complicated, the assembly precision is high, and the work efficiency is high, the traditional robot encounters great obstacles in the actual application, it is almost difficult or even impossible to apply, and the cost is very high

[0003] In recent years, major foreign industrial robot manufacturers have set their sights on humanoid dual-arm industrial robots for manufacturing, but they still cannot meet people's requirements for high flexibility and high intelligence robots, and domestic robots also have mechanical arm joints. Large size, low load-to-weight ratio, low transmission accuracy, and exposed cables outside the joint, which affect the signal transmission of the joint and the life of the joint. Therefore, the development is highly flexible and intelligent like a human being. Coordinated operation of robots with arms is the development direction of the next generation of industrial robots. After the successful development, it will bring revolutionary changes to industrial robots, and will greatly promote the development of industrial and service robots in my country. value, and has important social value

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