Subminiature integrated servo joint

Abstract

The invention provides a subminiature integrated servo joint. The subminiature integrated servo joint comprises a subminiature harmonic reducer, a hollow torque motor, a drive unit, a housing, an output acquisition shaft, a pressing plate and a blanking cap. A steel wheel a, a steel wheel b and a roller in the subminiature harmonic reducer form a roller bearing and steel wheel integrated structure, a cam is mounted on the output acquisition shaft in a sleeving manner, the cam and a motor shaft adopt an integrated structure, a motor rotor is installed on the cam, a motor rotor is installed in the housing, and the upper end face of the housing is fixedly connected with the steel wheel a. The drive unit comprises a drive control plate, a coded disc and a coded disc installation plate, the coded disc installation plate is installed at the lower end of the output acquisition shaft, the coded disc is installed on the coded disc installation plate, the pressing plate is installed on the housing, a cylinder boss is machined in the pressing plate to install the drive control plate, and the blanking cap is fixed at the lower end of the housing. The diameter of the servo joint is the diameterof the harmonic reducer, the size is smaller, the structure is simpler, and the mass is lower.

Description

technical field [0001] The invention relates to a joint transmission mechanism of a robot, in particular to an ultra-small integrated servo joint. Background technique [0002] Joints are an important part of robots. Joints of different specifications can be used to build different robot configurations, such as robotic arms and biped robots. The joint is mainly composed of a drive motor and a reducer. The drive motor provides power, and under the action of the reducer, the power is output to drive the actuator of the robot to move. [0003] With the development of mechatronics, robot components are developing in the direction of light weight, integration, intelligence and systematization. At present, the robots on the market are limited by the size and output capacity of the harmonic reducer, and the joint diameter and volume are relatively large. ,higher cost. At the same time, for traditional articulated robots, limited by the control method and structural form of the jo...

AI Technical Summary

Problems solved by technology

[0003] With the development of mechatronics, robot components are developing in the direction of light weight, integration, intelligence and systematization. At present, the robots on the market are limited by the size and output capacity of the harmonic reducer, and the joint diameter and volume are relatively large. ,higher cost

At the same time, for traditional articulated robots, limited by the control method and structural form of the joints, the configuration is relatively fixed, the connection methods between each degree of freedom are different, and the modularity and replaceability are poor. It determines the simplification of its functions and the complexity of substitution, which cannot meet the complex and changeable environment and tasks

Images