Intelligent modular hollow joint

An intelligent module and hollow technology, applied in the field of robotics, can solve the problems of hollow intelligent modular joints such as difficulty in wiring, poor joint modularity, large quality and volume, etc., to facilitate transformation, solve wiring, and ensure the range of motion Effect

Active Publication Date: 2015-03-18
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The hollow intelligent modular joint solves the problems of difficult wiring, large quality and volume, poor perception ability, and poor modularity of joints.

Method used

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] Such as Figure 1-3 As shown, the present invention includes a motor 1, a brake 2-1, an incremental encoder 3-1, a harmonic reducer 4-1, an absolute encoder 5, a torque sensor 6-1, a hollow wire pipe 9-1 and The terminal output shaft 10, wherein the motor 1 includes a motor output shaft 1-1, a motor rotor 1-2, a motor stator 1-3, a motor casing 1-4 and a motor rear end cover 1-5, and the motor rear end cover 1-5 5 is fixedly connected to the rear end of the motor casing 1-4, the motor output shaft 1-1 is arranged in the motor casing 1-4, and the rear end of the motor output shaft is connected to the motor casing 1-4 in rotation, and the motor rotor 1 -2 is set on the motor output shaft 1-1. The motor stator 1-3 is installed on the inner wall of the motor casing 1-4 and corresponds to the motor rotor 1-2. The brake 2-1 and the incremental encoder 3-1 are arran...

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Abstract

The invention belongs to the technical field of robots and particularly relates to an intelligent modular hollow joint. The intelligent modular hollow joint comprises a motor, a brake, an incremental encoder, a harmonic reducer, an absolute encoder, a torque sensor, a hollow wiring tube and a tail-end output shaft. The brake and the incremental encoder are arranged on a rear end cover of the motor and in transmission connection with the rear end of a motor output shaft through a transmission device, the front end of the motor output shaft is connected with the harmonic reducer which is connected with one end of the tail-end output shaft, the outer end of the tail-end output shaft is connected with the torque sensor, and the absolute encoder is mounted on the tail-end output shaft. The motor output shaft and the tail-end output shaft are both in hollow structures, the hollow wiring tube sequentially penetrates through the tail-end output shaft, the harmonic reducer and the motor output shaft, and one end of the hollow wiring tube is connected with the rear end cover of the motor while the other end of the hollow wiring tube is rotatably connected with the tail-end output shaft. The intelligent modular hollow joint in modular design is applicable to robot joints, and all parts of the intelligent modular hollow joint are replaceable to make it convenient for modification.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a hollow intelligent modular joint. Background technique [0002] In recent years, with the development of robot technology, the requirements for robots in medical services, aerospace, and industry have become higher and higher, and the core components that determine the performance of robots are joints. At present, most robot joints are designed at the same time as the robot design, which makes the design process more complicated and the design cycle longer; the wiring between the joints is very complicated, and the winding problem is difficult to solve; when the joints output a certain torque, The size and weight are large, which cannot meet the development requirements of lightweight; the concentration of joints is low, and the perception ability is poor; the joint itself is complex to assemble, and it is not easy to realize the modular replacement of joints. The above problem...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCH02K7/116H02K11/215
Inventor 韩建达赵忆文赵新刚孙维陈晨于海斌
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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