Collaborative robot joint structure

Abstract

The invention relates to a collaborative robot joint comprising a shell, a servo motor, a harmonic reducer, a brake and a driver. The servo motor, the harmonic reducer, the brake and the driver are arranged in the shell. The servo motor comprises a stator and a rotor, the stator is connected with the shell, the rotor is connected with an input shaft, the input end of the harmonic reducer is connected with the input shaft, the output end of the harmonic reducer is connected with an output shaft, the end, away from the harmonic reducer, of the input shaft is provided with the brake and an inputend encoder, the end, away from the harmonic reducer, of the output shaft is provided with an output end encoder, and the driver is arranged between the input end encoder and the output end encoder. The two independent magnetic encoders are arranged and carry out closed-loop control on the input shaft and the output shaft respectively, control is more sensitive, errors caused by mechanical assembling can be effectively eliminated, and the practical position of the output shaft is accurately controlled; and the requirements for the servo motor large torque and high energy density output are metthrough the stator multi-groove and rotor multi-electrode structure.

Description

technical field [0001] The invention relates to a mechanical joint structure, in particular to a collaborative robot joint structure. Background technique [0002] At present, collaborative robots have been used in various industrial fields to work together with humans. As a light robot in industrial robots, collaborative robots assist humans and work together with humans without the need for isolation with safety fences, solving precision problems that are difficult for humans to achieve. To save or keep humans away from dangerous environments and jobs. The joint structure of collaborative robot is the core component of collaborative robot, and its performance is very important in the whole process of collaborative robot movement. The joints of the collaborative robot are mainly carried out by servo drive. At present, the servo drive method is mainly divided into two types: one is the drive method using the servo motor with a reducer, and the other is the direct drive meth...

AI Technical Summary

Problems solved by technology

The motor with a reducer is driven by the reducer mechanism according to the speed ratio of 100:1 to reduce the speed of the motor and increase the torque to the range required by the control mechanism. However, the current mechanical structure of the servo motor has a complex overall mechanism, and the control mechanism cannot Quickly and accurately act on the servo mechanism, the vibration and noise are large during operation, and mechatronics cannot be realized in a limited space, especially after assembly, its position cannot be precisely controlled

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