An integrated robot joint device

Abstract

An integrated robot joint device, the output shaft of the motor is also used as the input shaft of the RV reducer; the rotor of the single-turn absolute encoder is fixedly connected to the input end plate of the RV reducer through a sensor adapter plate, and its stator It is fixedly connected to the RV reducer housing through the sensor fixing plate; the rotor of the incremental encoder is fixed to the output shaft of the motor, and its stator is fixed to the T-shaped housing; the rotor of the frameless direct drive torque motor is fixed to the output shaft of the motor , the stator is fixedly connected to the T-shaped housing; the power-off brake rotor is connected to the output shaft of the motor, and its stator is fixedly connected to the motor end cover; the DC drive is connected to the T-shaped housing through the drive bracket; among them, the DC drive, breaker The electric brake is located on one side of the frameless direct drive torque motor, which is sealed by the rear sealing end cover; the RV reducer, incremental encoder, and single-turn absolute encoder are located on the other side of the frameless direct drive torque motor; The output flange is sealed and installed on the output end disk of the RV reducer.

Description

technical field [0001] The invention relates to a structural device for robot joints, which is mainly used to solve the problems of complex connection, large size and space, high cost and the like of the current robot joints. Background technique [0002] At present, most robot joints adopt a series independent structure scheme, that is, the motor, reducer and driver are independently designed and selected, and then connected to a complete machine device through an adapter device. This device has complex structural connections, large size space, and sub-components. The matching is not high, and the comprehensive cost of man-hours and quality is relatively high. In this context, integrated design has become an inevitable trend. At present, most of the integrated joints of robots are designed on the basis of harmonic reducers. This device has low bearing capacity, low structural rigidity, and short service life of the harmonic reducer. Inherent problems, it is difficult to me...

AI Technical Summary

Problems solved by technology

[0002] At present, most robot joints adopt a series independent structure scheme, that is, the motor, reducer and driver are independently designed and selected, and then connected to a complete machine device through an adapter device. This device has complex structural connections, large size space, and sub-components. The compatibility is not high, the comprehensive cost of man-hours and quality is relatively high, etc.

In this context, integrated design has become an inevitable trend. At present, most of the integrated joints of robots are designed on the basis of harmonic reducers. This device has low bearing capacity, low structural rigidity, and short service life of the harmonic reducer. Inherent problems, it is difficult to meet the needs of robots over 10KG

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