High-integrality robot joint

A robot joint, highly integrated technology, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of low integration, small load, large weight, etc., and achieve the effect of high integration, large load capacity, and low self-weight

Inactive Publication Date: 2016-02-10
BEIJING AUTOMATION CONTROL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a highly integrated robotic joint, which integrates drive, perception and control, and solves the problems of large weight, small load, large volume and low integration commonly found in existing mechanical arm joints. At the same time, Provide a common electrical and mechanical interface, and then provide a way to realize the rapid design and construction of manipulators and robots

Method used

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Embodiment Construction

[0020] Hereinafter, the present invention will be further described in conjunction with the drawings and specific embodiments.

[0021] combine Figure 1-Figure 4 Note that the highly integrated joint in this embodiment mainly includes a mechanical system, a joint electrical system, and a sensor system; the mechanical system, the joint electrical system, and the sensor system are integrated inside a joint, and are connected to an external mechanical structure through a standardized mechanical interface. The standardized electrical interface realizes the electrical connection with the outside; thus communicates with the upper computer controller through the bus, thereby realizing the position and speed control of the corresponding joints.

[0022] Its mechanical system is mainly composed of a mechanical casing, a drive motor, a transmission device, and a brake device as a power-off brake; the mechanical casing has a general mechanical interface and an electrical interface, so a...

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Abstract

The invention relates to a high-integrality robot joint. The high-integrality robot joint comprises a mechanical system, a joint electrical system and a sensor system, wherein the mechanical system, the joint electrical system and the sensor system are integrated in the joint; the mechanical system comprises a power-off brake; the joint adopts a large hollow shaft structure, and wires in the joint are all arranged in hollow inside space. The high-integrality robot joint has the benefits as follows: the high-integrality robot joint has the characteristics of small size, small dead weight, high load capacity and high integrality; output performance requirements for a motor are reduced while output torque is increased through a large reduction ratio of a harmonic reducer; meanwhile, slide control of the motor is realized through a motor encoder, the high-precision characteristic of output of the joint is guaranteed through an absolute joint encoder, position keeping of a robot is realized through the power-off brake under the power failure condition, and safety of the robot during movement is improved.

Description

technical field [0001] The invention relates to a mechanical arm joint, in particular to a highly integrated robot joint. technical background [0002] The joint is an important core component of the robot, especially the robot arm. Its overall structure, motion performance and perception ability directly affect the overall operating space, load capacity and task execution ability of the robot. In recent years, small operating manipulators for the electronics industry, home service robots, special service robots, and space robots have developed rapidly, and these application occasions and application backgrounds have put forward higher requirements for the operational performance of robots. It can complete more complex operations with a smaller self-weight and volume, and has a greater load capacity. At the same time, the existing demand cycle also requires the cycle from design to delivery of robots to be continuously shortened, and higher requirements are placed on the in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
Inventor 李楠张新华王晓林揭军王嘉力沈志航黄建
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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