Modularized ball joint of collaborative robot

Abstract

The invention relates to mechanical arm joints, in particular to a modularized ball joint of a collaborative robot. The modularized ball joint of the collaborative robot comprises a shell and ball joint driving modules. A module supporting piece is fixedly installed on the shell, and a spherical shell cover is further installed on the shell. A first installation position and a second installation position are arranged on the module supporting piece, and the ball joint driving modules are fixedly installed on the first installation position and the second installation position and installed inside the shell in a sealing mode through the spherical shell cover. The modularized ball joint of the collaborative robot has the advantages that in the aspect of driving, hollow motors are used for driving, deceleration is conducted through harmonic speed reducers, and therefore high-torque transmission is achieved, the transmission accuracy is guaranteed, and the structure is compact and light; and in the aspect of braking, synchronous belt pulleys are utilized to conduct transmission, and therefore the driving portion and the braking portion are isolated, the space is saved, the braking performance is guaranteed, and the installation difficulty of the interior of the joint is reduced.

Description

technical field [0001] The invention relates to a mechanical arm joint, in particular to a collaborative robot modular ball joint. Background technique [0002] As a light-weight robot, collaborative robots have high safety and reliability. On the basis of not requiring safety fences, they can realize joint operation with humans, solving the precision that is difficult for humans to achieve or keeping humans away from dangerous environments and work. The joint structure of collaborative robot is the core component of collaborative robot, and its performance plays a key role in the whole process of collaborative robot movement. At present, collaborative robots mostly adopt a series joint structure, which can only realize single-degree-of-freedom rotation, and cannot realize two-degree-of-freedom operation of the same joint, which increases the number of joints, resulting in the compactness of the robot and the space for movement of the robot using this joint form. And the st...

AI Technical Summary

Problems solved by technology

At present, collaborative robots mostly adopt a series joint structure, which can only realize single-degree-of-freedom rotation, and cannot realize two-degree-of-freedom operation of the same joint, which increases the number of joints, resulting in the compactness of the robot and the space for movement of the robot using this joint form. and the stability is greatly affected by the connecting arms between the joints

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