Joint module of robot arm

Abstract

The invention discloses a joint module of a robot arm. A circuit board is arranged on one side of the motor. A cable passes through the hollow interior of the rotating shaft and is connected to the circuit board. The flange is arranged on the other side of the motor opposite to the circuit board and connects to the rotating shaft. To output power, the connecting base is set on the casing. The connecting base is equipped with a torque sensor. The torque sensor is connected to the circuit board through a torque transmission line and transmits the detected torque detection signal to the circuit board to avoid signal interference.

Description

technical field [0001] The invention relates to a robot arm, in particular to a joint module for providing joint rotation power in a multi-axis robot arm. Background technique [0002] With the characteristics of flexible movement, precise positioning and continuous operation, the robot arm has become the best tool for manufacturing and assembling on the product line in the environment of lack of manpower and high cost. Among them, modularizing the joints of the robot arm to improve the flexibility to adapt to the production line has become the main topic of the current research and development of the robot arm. [0003] Such as Figure 4 Shown is the joint module 10 of the prior art robotic arm. In the joint module 1 of the prior art, a motor 3 is provided in the casing 2 , and a hollow rotating shaft 4 is provided at the center of the motor 3 . The hollow rotating shaft 4 passes through a cable 5 and is connected with a circuit board 6 and an encoder 7 arranged on one sid...

AI Technical Summary

Problems solved by technology

[0005] However, the torque detection signal detected by the torque sensor 9 is far weaker than other processed control signals in the cable 5, and the unprocessed torque detection signal will still be interfered by the electromagnetic wave of the motor 3 during transmission. , often causing the circuit board 15 to misjudge the torque detection signal, resulting in wrong power output, which not only affects the accuracy of the robot arm, but also endangers the safety of the product and the working environment

In addition, the detected torque detection signal is transmitted through the cable 5, and the cable 5 will also become thicker, sacrificing the activity space of the cable 5 in the hollow interior of the rotating shaft 4

When the robot arm moves and often pulls and squeezes the cable 5 and rubs against the rotating shaft 4, not only the metal layer covering the cable 5 is easily damaged or falls off, which reduces the interference of electromagnetic waves, and the flexible space of the cable 5 becomes less, which in turn affects the performance of the cable. life

Images