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A spherical motor for robot integrated joint structure

A spherical motor and joint structure technology, applied in the field of robotics, can solve the problems of large size, poor reliability, slow response speed, etc., and achieve the effect of simple and compact structure and reduced volume

Active Publication Date: 2020-09-11
SUZHOU ZHIWEI PRECISE DRIVING CONTROL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at technical problems such as large size, slow response speed, poor dynamic performance, and poor reliability in the prior art where robot integrated joints require multiple DD motors to be directly driven, the embodiment of the present invention provides a high-speed, high-precision, high-dynamic, Spherical motors for integrated joints of robots that can realize single-joint multi-degree-of-freedom motion and control

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  • A spherical motor for robot integrated joint structure
  • A spherical motor for robot integrated joint structure
  • A spherical motor for robot integrated joint structure

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Embodiment Construction

[0037] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, 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 shall fall within the protection scope of the present invention.

[0038] ginseng figure 1 Shown is a perspective view of a spherical motor used in an integrated joint of a robot in the first embodiment of the present invention. In this embodiment, the spherical motor 100 for the robot integrated joint structure includes a spherical rotor module 110 , an armature winding stator module 120 , an outer f...

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Abstract

The invention discloses a spherical motor for an integrated joint structure of a robot. The spherical motor comprises a spherical rotor module, an armature winding stator module, a spherical motor outer frame and an outer guide rail. The spherical motor is based on the combination of a motor structure, a magnetic field design and a control method, has the high speed, high precision and high dynamic property, and can achieve the movement and control of single joint with multiple degrees of freedom.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a spherical motor used in an integrated joint structure of a robot. Background technique [0002] With the rapid development of IC and 3C industries, the requirements for robot precision, speed and efficiency are getting higher and higher. The "rotating motor + reducer" structure adopted by traditional robots has been difficult to meet the requirements. At present, the integrated joint structure of the robot adopts the DD motor direct drive method, so as to realize the high-speed, high-precision, and high-dynamic performance of the robot; however, the DD motor direct drive method can only realize the single-degree-of-freedom drive of a single joint, and cannot Single-joint multi-degree-of-freedom high-precision drive. In order to realize multi-degree-of-freedom space motion, multiple single-degree-of-freedom joints need to cooperate with each other. Furthermore, the DD motor di...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02K41/06H02K11/33H02K11/21B25J17/02
CPCB25J17/0283H02K11/21H02K11/33H02K41/06
Inventor 刘吉柱
Owner SUZHOU ZHIWEI PRECISE DRIVING CONTROL TECH CO LTD