Robot joint and robot

A technology of robot joints and joints, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to eliminate joint friction and damping, large measurement and calculation errors, and poor force control accuracy, and achieve high-cost control advantages. The effect of reasonable layout and shortened axial dimension

Inactive Publication Date: 2018-08-07
SIASUN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the large measurement and calculation errors, and the inability to eliminate the internal friction and damping of the joints, when this type of robot realizes collaborative functions based on force control, such as collision detection, drag teaching, or impedance control, teaching errors often occur. Problems such as flexibility, poor force control accuracy and low safety margin

Method used

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  • Robot joint and robot
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  • Robot joint and robot

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Embodiment Construction

[0035] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, ...

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Abstract

The invention relates to a robot joint and a robot. The robot joint includes an electromagnetic brake, a brushless motor, an input flange, a harmonic reducer, an output flange and a torque measuring device which are coaxially arranged in sequence, wherein a braking coupling of the electromagnetic brake, a motor spindle of the brushless motor and a wave generator of the harmonic reducer are coaxially connected in sequence; a flexible wheel of the harmonic reducer is connected with the output flange; the torque measuring device is integrated to the output flange. The joint has a hollow wire holethat runs axially through the joint and that is used for wiring.

Description

technical field [0001] The invention relates to the technical field of intelligent machines, in particular to a robot joint and a robot. Background technique [0002] Collaborative robot is a new type of intelligent robot used to cooperate with human beings, so it needs lighter structure, safer control mode, easier programming operation and more intelligent environment perception function. At the same time, collaborative robot is required to have Lower manufacturing costs. In this way, higher requirements are put forward for the design and manufacture of robots, requiring that the structure of robot joints should be compact, light and highly integrated, the installation form should be convenient and flexible, the sensors should be accurate and diverse, and the control method should realize precise torque control . [0003] However, most of the current robot joints are large in size and heavy in weight; the driver cannot be integrated inside the joint, and the cables are ex...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/08
Inventor 杨跞王成刚周福兴
Owner SIASUN CO LTD
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