Double-degree of freedom modularized joint device and robot provided with same

Abstract

The embodiment of the invention discloses a double-degree of freedom modularized joint device which comprises an input device, an output device and a housing. The input device comprises a first motorstator, a first motor rotor, a first motor input shaft, a shaft collar, a first speed reducer wave generator, a blocking piece, a second motor stator, a second motor rotor, a second motor input shaftand a second speed reducer wave generator. The output device comprises a first output flange, a first absolute value encoder, a first harmonic drive steel wheel, a first harmonic drive outer wheel, asecond output flange, a second absolute value encoder, a second harmonic drive steel wheel and a second harmonic drive outer wheel. The modularized joint device adopting the structure has double degrees of freedom, is small in size, light in weight and high in modularity, and is beneficial for batch production.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a dual-degree-of-freedom modular joint device and a robot with the device. Background technique [0002] With the continuous development of science and technology, robots have entered various fields such as industry, service, and medical treatment. [0003] According to the principle of bionics, the movement of the robot imitates that of humans through joints. Each joint is consistent with the degree of freedom of each joint of the human being on the basis of accurate control. [0004] At present, most robots have complex design processes, long development cycles, difficult assembly and maintenance, which are not conducive to mass production and cannot enter the market on a large scale. And most of the current modular joints have only one degree of freedom. In order to make the robot achieve multiple degrees of freedom, several single-degree-of-freedom joints need to be combined, result...

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