A dual-degree-of-freedom modular joint device and a robot with the device
A technology of modular joints and degrees of freedom, applied in the field of machinery, can solve problems such as unfavorable mass production, complex design process, and long development cycle, and achieve the effects of mass production, high degree of modularization, and light weight
Active Publication Date: 2021-04-16
SHENYANG SIASUN ROBOT & AUTOMATION
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Problems solved by technology
[0004] At present, the design process of most robots is complicated, the development cycle is long, assembly and maintenance are difficult, it is not conducive to mass production, and it is impossible to 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, resulting in a large volume and weight of the robot, which affects the dynamic characteristics of the robot
Method used
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[0021]In order to better understand the present invention, the technical solutions in the embodiments of the present invention will be described in connection with the drawings in the embodiments of the present invention, and the embodiments described herein will be clearly understood. It is an embodiment of the invention, not all of the embodiments. Based on the embodiments in the present invention, those of ordinary skill in the art will belong to the scope of the invention in the present invention without making in the pre-creative labor premise.
[0022]The present invention and the scope of the invention and the terms "first", "second", "third" "third" "third" "" fourth ", and the third" "third" "" fourth ", and the third" "fourth", which are used to distinguish the similar object without Describe specific order or prior order. It is to be understood that the data such as use can be interchanged in appropriate, so as to be described herein in addition to the content shown or descr...
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The embodiment of the present invention discloses a dual-degree-of-freedom modular joint device, which includes an input device, an output device, and a housing; the input device includes: a first motor stator, a first motor rotor, a first motor input shaft, a collar, The wave generator of the first reducer, the blocking plate, the stator of the second motor, the rotor of the second motor, the input shaft of the second motor, the wave generator of the second reducer, the output device includes: the first output flange, the first absolute Value encoder, steel wheel of the first harmonic reducer, outer ring of the first harmonic reducer, second output flange, second absolute value encoder, steel wheel of the second harmonic reducer, outer ring of the second harmonic reducer , the present invention proposes a structure with two degrees of freedom, small volume, light weight, high modularization degree, and is conducive to mass production.
Description
Technical field[0001]The present invention relates to the field of mechanical, and more particularly to a dual degrees of freedom modular and a robot having the device.Background technique[0002]With the continuous development of science and technology, robots have entered various areas such as industrial, service, medical care.[0003]The robot is based on the principle of bionic, and its motion imitates that humans are achieved by joints. Each joint is consistent with each joint degree of freedom of human joints on the basis of accurate control.[0004]At present, most robots are complex, long-term development cycles, assembly, maintenance difficult, not conducive to mass production, and cannot enter the market. And most modular joints are only one degree of freedom. In order to reach a plurality of freedoms to make the robot, several single freedom joints are needed to combine, resulting in a large number of robots, weight, and affecting the dynamic characteristics of the robot.Invent...
Claims
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IPC IPC(8): B25J9/08B25J17/00
CPCB25J9/08B25J17/00
Inventor 徐方杨奇峰刘明敏唐冲王文钊何元一徐冰
Owner SHENYANG SIASUN ROBOT & AUTOMATION