Anti-impact flexible joint suitable for mechanical arm
A flexible joint and impact-resistant technology, applied in the field of robotics, can solve the problems of complex structure, small flexibility, and large volume of flexible realization mechanisms, and achieve the effects of compact joint structure, good impact resistance characteristics, large load and self-weight ratio
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[0022] Specific implementation mode 1: Combination figure 1 , figure 2 , Figure 5 and Image 6 Explain that an impact-resistant flexible joint suitable for a mechanical arm includes a drive transmission system, a sensing system, and a power-off brake. The drive transmission system includes a joint output shell 1, a joint input shell 15, and an output cover 2. , Limit block 16, deep groove ball bearing one (6706) 5, tandem elastomer 6, connecting flange 7, harmonic reducer 10, flexible wheel lock nut 11, deep groove ball bearing two (6707) 17, Crossed roller bearing (RA7008) 14, bearing outer ring baffle 13, bearing inner ring baffle 12, C-ring 25, hollow cable shaft 21, deep groove ball bearing three (6705) 22 and motor, the motor includes The motor rotor 18, the motor stator 34, and the motor central shaft 20. The sensing system includes a first joint position magnetic encoder 3, a first magnetic ring fixing frame 4, a second joint position magnetic encoder 8, and a second ma...
Example Embodiment
[0025] Specific implementation manner two: combination Figure 2 ~ Figure 4 It is explained that the impact-resistant flexible joint suitable for mechanical arms described in the first embodiment, the tandem elastic body 6 includes an inner ring 6-1, an outer ring 6-2 and two sets of flexible beams 6-3. The inner ring 6-1 and the outer ring 6-2 are arranged concentrically, the inner ring 6-1 and the outer ring 6-2 are symmetrically connected to the two groups of flexible beams 6-3 along their circumference, and the inner ring 6-1 (through bolts) It is fixedly connected with the output end cover 2, the outer ring 6-2 (through bolts respectively) is fixedly connected with the stop block 16 and the first magnetic ring fixing frame 4, and the deep groove ball bearing 5 is installed on the inner ring 6- Between 1 and the first magnetic ring fixing frame 4, the outer ring 6-2 (through bolts) is respectively (through bolts) fixedly connected with the stop block 16 and the outer ring f...
Example Embodiment
[0027] Specific implementation mode three: combination figure 2 It is explained that, according to the first or second embodiment of an impact-resistant flexible joint suitable for a mechanical arm, the first joint position magnetic encoder 3 includes a first joint circuit board 3-1 and a first joint magnetic ring 3- 2; The first joint circuit board 3-1 is fixedly connected to the output end cover 2, and the first joint magnetic ring 3-2 is fixedly connected to the first magnetic ring fixing frame 4.
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