Dual-feedback compact type high-precision hollow integrated joint
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A compact, high-precision technology, applied in the control of mechanical energy, joints, manipulators, etc., can solve problems such as wounding, leakage, and joints that are not smooth enough to achieve the effect of maintaining function, simple connection method, and smooth external curve.
Inactive Publication Date: 2018-02-23
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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Problems solved by technology
However, the existing integrated joints on the market do not have servo control with double feedback of speed and position. The joints are not smooth enough, have edges and corners or leaking screws, which may hurt people, and there is no reliable joint brake, which makes people and cooperation poor. Single joint The weight is heavy, and the adaptability of the robotic arm still needs to be improved
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Embodiment 1
[0038]The rotor hub 33 has a square structure with a through hole in the center, and is fixed on the side by screws with the high-speed motor shaft 6. The side length a of the rotor hub 33 is 25 mm, the height b is 12.5 mm, the inner diameter c is 20 mm, and the four corners are flattened. The two corners have two countersunk holes for screw connection, the material is stainless steel 2Cr13. The frameless motor 2 uses Kollmorgen TBMS-6013-A, the gap between the motor stator 21 and the motor rotor 22 is 0.5mm, and the motor stator 21 and the motor rotor 22 are respectively glued to the housing 13 with thread glue Loctite 640 And on the high-speed motor shaft 6, the harmonic reducer is SHD-17-100-2SH, the motor shaft bearings 9, 10, and the hollow shaft bearing 11 are deep groove ball bearings. The brake stator 31 and the brake rotor 32 are Miki BXR-050-10LE.
[0039] The invention has high control precision, hollow joints, high integration, light weight, and reliable non-excit...
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Abstract
A dual-feedback compact type high-precision hollow integrated joint comprises a harmonic reducer (1), a frameless motor (2), a brake (3), an incremental encoder (4), an absolute encoder (5), a high-speed motor shaft (6), a low-speed hollow shaft (7), an output flange (8), motor shaft bearings (9 and 10), a hollow shaft bearing (11), a driver (12), a shell (13), a first bearing stand (14), a secondbearing stand (15), a third bearing stand (17), an inter-joint connection cable (16) and a transitional shaft (18), wherein a motor rotor (22), the incremental encoder (4) and the brake (3) are installed on the high-speed motor shaft (6), and the absolute encoder (5) is installed on the low-speed hollow shaft (7). According to the dual-feedback compact type high-precision hollow integrated joint,the control precision is high, joints are hollow so as to achieve wiring, the structure is compact, the degree of integration is high, the weight is low, and the power density is high; and as the reliable brake is provided, the overall structure curve is smooth and has no corner, safety and reliability are achieved, and the man-machine collaboration is good.
Description
technical field [0001] The invention relates to a robot joint. Background technique [0002] The structure of traditional robots is large and bulky, the ratio of load to weight is low, the risk of human-computer interaction is high, the joint integration of traditional robots is low, the joints are thick, and the external wiring of control lines is numerous and complicated, which cannot meet the needs of space, battlefield, etc. , family and service industry and other working environments. [0003] The lightweight robot joints adopt hollow wiring, the body structure is light in weight, and the load to weight ratio is high. It can be well applied in modern services, homes, spaces and other fields. It can solve the above problems and greatly reduce the application cost of the robotic arm. However, the existing integrated joints on the market do not have servo control with double feedback of speed and position. The joints are not smooth enough, have edges and corners or leakin...
Claims
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Application Information
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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J19/00
CPCB25J17/00B25J19/00H02K7/102H02K7/116H02K11/21
Inventor 杨帆刘书选杨涛王燕波邓松波杨增辉
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS