Single shaft and two-degree-of-freedom robot joint

Abstract

A single shaft and two-degree-of-freedom robot joint comprises a first joint assembly and a second joint assembly; the first joint assembly comprises a first driving motor, a planet speed reducer and a first joint main shaft; the first joint main shaft is connected with a rotor of the first driving motor; an input end of the planet speed reducer is connected with the first joint main shaft; the second joint assembly comprises a second driving motor, a second joint main shaft and a synchronous tooth belt wheel; a shell of the second driving motor is connected with an output end of the planet speed reducer; the second joint main shaft is connected with a rotor of the second driving motor; and the synchronous tooth belt wheel is fixedly installed on the second joint main shaft. The single shaft and two-degree-of-freedom robot joint has the advantages that the structure is compact; same shaft two-degree-of-freedom is achieved; large output torque of a non-frame direct drive torque motor is utilized sufficiently; the structure is simple and compact and the like. The single shaft two-degree-of-freedom robot joint can be used for the collaborative robot with large load and self weight ratio, and also can be used for the leg-foot type robot.

Description

technical field [0001] The invention relates to a two-degree-of-freedom joint for a robot, belonging to the technical field of robots. Background technique [0002] Joint robot is one of the most common forms of industrial robot, and joint is an important component of robot. The volume, weight, output torque and motion accuracy of robot joints are the main determinants of the overall performance of the robot. The current robot joints usually use a brushless DC motor with a small output torque. In order to obtain a larger output torque, it is usually necessary to configure an RV reducer or a harmonic reducer with a larger reduction ratio. However, the reverse drive effect of the large reduction ratio transmission system is very poor, which makes the robot's force perception ability to the environment poor, and is not suitable for building collaborative industrial robots. [0003] Chinese patent document CN 104942822A discloses "A Joint with Two Degrees of Freedom for a Spa...

AI Technical Summary

Problems solved by technology

However, this device adopts multi-stage planetary gear reducer and bevel gear transmission, the transmission mechanism is relatively complicated, and the joint size and weight are relatively large.

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