Two-motor drive modular joint and mechanical arm

Abstract

The invention relates to a two-motor drive modular joint. According to the two-motor drive modular joint, an output shaft is rotationally connected with a shell and fixedly connected with an output gear; the output shaft comprises a through hole extending in the axial direction; the shell comprises a penetrating hole corresponding to the through hole, and the through hole and the penetrating holeare used for storing a line; the output shaft further comprises a radial channel which cooperates with a zero-bit detection module to determine the zero bit; a first gear and a second gear are engagedwith the output gear and are free of interference; a first servo motor is connected with the first gear and a first motor encoder; and a second servo motor is connected with the second gear and a second motor encoder. The two-motor drive modular joint can eliminate the gap between the output gear and a drive device, so that transmission is more precise, and the joint can still run in a gapless mode even when the gears are abraded. The zero-bit detection module is used for determining the zero bit of the output shaft. Through cooperation of the penetrating hole and the through hole, various cables can be arranged inside the joint, and thus the joint is simple and compact as a whole.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a dual-motor driven modular joint. [0002] The invention also relates to a mechanical arm. Background technique [0003] With the rapid development of automation and semiconductor technology and the continuous increase of labor costs, robotic arms have played a pivotal role in many fields. As the core component of the manipulator, the performance of the high-precision reducer seriously affects the performance of the whole machine of the manipulator. Our country's research and development of products in this area is seriously behind the world's advanced level. [0004] Although traditional industrial robotic arms have been widely used, they have few types, fixed configurations, long development cycles, and high prices. Reconfigurable modular manipulators can well solve the difficulties faced by existing industrial manipulators. It can not only meet the individual needs of ent...

AI Technical Summary

Problems solved by technology

[0006] The deficiencies in the above patents: on the one hand, the mechanical structure of the prior art is complex, which puts forward high requirements for machining and assembly, and the joint integration degree is low

On the other hand, in the existing technology, although one joint module can realize two-degree-of-freedom movement, it needs three motors to cooperate to complete the movement.

This leads to an exponential increase in the complexity of the control algorithm, and also puts forward high requirements on the real-time performance of the control system and sensor accuracy.

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