Lightweight mechanical arm modular joint

Abstract

The invention provides a lightweight mechanical arm modular joint. The lightweight mechanical arm modular joint is characterized by comprising a hollow motor, a speed reducer, high speed motor bearings, modular joint output shafts, a first encoder and a second encoder; the hollow motor is provided with hollow motor rotors, hollow motor stators and hollow motor shafts; the modular joint output shafts are connected with the speed reducer and output power outwardly; the first encoder is installed outside the modular joint output shafts and is used for detecting the positions of the modular joint output shafts; the second encoder is connected with the hollow motor shafts and is used for detecting the positions of the hollow motor rotors; the hollow motor rotors are fixed to the hollow motor shafts, and the two ends of the hollow motor rotors are connected with the speed reducer and the high speed motor bearings respectively. The lightweight mechanical arm modular joint is simple and reliable in structure and conducive to mass production.

Description

technical field [0001] The invention relates to a lightweight mechanical arm modular joint, which belongs to the field of robots. Background technique [0002] At present, China has become an important market for industrial robots in the world, and robots are gradually expanding to semiconductor (3C), service, medical and other industries outside the traditional automobile and consumer electronics fields, becoming a new growth point for the industry. While the new industry field has higher requirements on robot weight, self-weight-to-load ratio, volume, and transmission accuracy, it also creates new demands in the field of human-machine collaboration. Therefore, the development of a lightweight manipulator oriented towards human-machine collaboration and having a large weight-to-load ratio, small size, and high transmission accuracy has broad market application prospects. [0003] The patent document with the application number 201310397792.6 "A hollow intelligent modular j...

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Problems solved by technology

[0003] The patent document with the application number 201310397792.6 "A hollow intelligent modular joint", the patent document with the application number 201210112070.7 "Elastic drive modular joint with force feedback control", the patent document with the application number 201410594998.2 "A A dual-arm robot modular joint with a hollow structure has the advantages of light weight, high transmission precision, and small size, but its joint structure is too complicated, and there is a certain degree of over-positioning at the joint structure level, which affects the size tolerance of parts. The requirements are too high, which is not conducive to mass production

[0004] In addition, due to the inaccurate judgment of the position of the output shaft in the existing robot joints, the precision of joint control is not high, and it cannot start working immediately after power failure

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