Internal-wiring robot revolute joint module

Abstract

The invention discloses an internal-wiring robot revolute joint module which comprises a base, a joint output part, a driving motor and a power transmission mechanism, wherein the interior of the base is divided in the axis direction by a division plate into a motor mounting chamber and a power transmission mechanism mounting chamber; the power transmission mechanism is arranged inside the power transmission mechanism mounting chamber, and comprises a cylindrical gear transmission mechanism and a harmonic-wave reducer; a main shaft of the driving motor penetrates through the division plate to be connected with a driving gear in the cylindrical gear transmission mechanism; a driven gear in the cylindrical gear transmission mechanism is coaxially connected with the harmonic-wave reducer; the joint output part is connected on the harmonic-wave reducer; the harmonic-wave reducer is a hollow structure inside; and an electroconductive sliding ring is arranged on the division plate. According to the robot revolute joint module, the structure is simple and compact, the gear clearance is eliminated, the transmission accuracy of the joint is high, the internal wiring is adopted, the appearance is concise and beautiful, and the utilization safety and reliability are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a rotary joint module of an inner wire routing robot. Background technique [0002] Robot technology has made great progress so far, but there is still a considerable distance from a large number and general application in social production and human life. The reason is that important factors include the function, performance and intelligence of the robot itself, as well as the complexity and high cost of the system. Although robots have great flexibility and elasticity for certain applications, most of the existing robot systems often have only one main function and fixed configuration for specific purposes and occasions, lacking functional expansion and reconfiguration. structural. Synthesizing and integrating multiple functions in one body is an important trend in the development of robotic systems at present and in the future. In addition, it costs a lot to develop a specif...

AI Technical Summary

Problems solved by technology

[0004] 1. The structure is more complicated;

[0005] 2. In the transmission chain, it is decelerated by the harmonic reducer first, and then decelerated by the gears. The gear gap is difficult to eliminate, which makes it difficult to guarantee the accuracy of the joint transmission;

[0006] 3. The wiring is implemented outside the module, which limits the range of rotation, which is neither beautiful nor safe and reliable

Images