Integrated robot joint driving device

Abstract

The invention provides an integrated robot joint driving device, and relates to the technical problem of robots. The integrated robot joint driving device aims at solving the technical problems of high cost and inconvenient assembling in the prior art. The device comprises a main housing, a joint motor, a speed reducer, a main circuit board and a brake, wherein the joint motor, the speed reducer,the main circuit board and the brake are mounted in the main housing; a joint control module is loaded on the main circuit board; the speed reducer is a cycloid speed reducer, and two cycloidal gearsof the speed reducer are correspondingly mounted on a rotating shaft of the joint motor through two eccentric bearings; an inner gear ring of the speed reducer is in sliding friction fitting with themain housing, and an end cover of the speed reducer is fixed to the main housing; a pin of the speed reducer is a hollow tube body; and a motor control cable and a brake control cable are arranged through an empty cavity of the pin of the speed reducer. The device is high in output torque, high in impact resistance, low in manufacturing cost, and convenient to assemble.

Description

technical field [0001] The invention relates to robot technology, in particular to the technology of an integrated robot joint drive device. Background technique [0002] Small robots (especially collaborative robots) have requirements for miniaturization, light weight and modularization. Robot joint components are the basic components of modular robots. The use of integrated joint modules has many advantages. It can simplify user design, quickly assemble, and can customize robots that meet specific functional requirements. [0003] The existing integrated robot joint drive device has gradually matured, but there are the following problems due to structural and technological reasons: [0004] 1) Robotic joints usually use a harmonic reducer to increase the joint torque. In order to meet the torque requirements of the harmonic reducer, the flexible spline needs to be made of high-strength and flexible metal, which requires high manufacturing precision and complicated process...

AI Technical Summary

Problems solved by technology

[0004] 1) Robotic joints usually use a harmonic reducer to increase the joint torque. In order to meet the torque requirements of the harmonic reducer, the flexible spline needs to be made of high-strength and flexible metal, which requires high manufacturing precision and complicated processes. Deformation will generate alternating stress, making it prone to fatigue damage, and the impact resistance of the harmonic reducer is also poor

[0005] 2) Robot joints usually use crossed roller bearings due to structural limitations. Since robot joints will bear radial and axial loads at the same time, there are high requirements for the rigidity and rotation accuracy of crossed roller bearings, and the processing is difficult

[0006] 3) The existing integrated robot joint drive device usually uses a hollow shaft frameless torque motor as the power source, and the internal wiring of the hollow shaft of the motor is used to make the design more compact, but the air gap between the stator and rotor of the hollow motor is small, and the motor bearing cantilever , high requirements for assembly and difficult installation

Images