Joint driving module, seven-axle mechanical arm and robot

A drive module and joint module technology, applied in the field of robotic arms, can solve the problems of low joint speed, affecting the performance of the robot, insufficient torque of ordinary joint motors, etc., and achieve the effect of high speed and torque

A drive module and joint module technology, applied in the field of robotic arms, can solve the problems of low joint speed, affecting the performance of the robot, insufficient torque of ordinary joint motors, etc., and achieve the effect of high speed and torque

CN110154080APending Publication Date: 2019-08-23CRRC QINGDAO SIFANG ROLLING STOCK RES INST
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  • Joint driving module, seven-axle mechanical arm and robot
  • Joint driving module, seven-axle mechanical arm and robot
  • Joint driving module, seven-axle mechanical arm and robot

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Embodiment Construction

[0027] In the following, the present invention will be specifically described through exemplary embodiments. It should be understood, however, that elements, structures and characteristics of one embodiment may be beneficially incorporated in other embodiments without further recitation.

[0028] In the description of the present invention, it should be noted that the circumferential direction of the object is the circumferential direction, the direction along the radius is the radial direction, and the axial direction of the rotating shaft is the axial direction; the terms "inner", "outer", "upper", " The orientation or positional relationship indicated by "down", "front", "rear", etc. are based on the positional relationship shown in the drawings, and are 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 Having a particular orientation, being constructed an...

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Abstract

The invention provides a joint driving module, a seven-axle mechanical arm and a robot. A first stator winding and a second stator winding are arranged on the radial inner side and the radial outer side of a rotor winding of a motor rotor; a driving motor adopts a double-winding motor to provide higher torque under the same size, so that the joint driving module can achieve higher rotating speed and torque under the smaller size; a first joint, a fifth joint and a seventh joint are arranged as rotating joints; a second joint, a third joint, a fourth joint and a sixth joint are arranged as swing joints; and through the arrangement mode, the robot not only can guarantee enough arm extension and covering range, but also can prevent excessive size of single arm tubes, in particular the sizes of second to fifth mechanical arms, so that various complex actions can be flexibly realized, the flexible detection covering range is widened, and the application effect of the robot in narrow space can be improved.

Description

technical field [0001] The invention belongs to the field of mechanical arms, and in particular relates to a joint drive module, a seven-axis mechanical arm and a robot. Background technique [0002] Joint-type robots are driven by motors with the same number of degrees of freedom. Among them, collaborative robots and small compact robots mostly use the method of installing motors at corresponding joint positions, eliminating the need for long-distance transmission mechanisms. Existing robots of this type have large joints and thick and straight arms, which make the robot not flexible enough to meet the needs of narrow spaces, and its functional parameters are difficult to improve. [0003] At present, the joints of collaborative robots and small compact robots use motors and reducers as joint drive modules, and some highly integrated drive modules are also equipped with encoders, drive circuit boards, and torque sensors. Due to the gear reducer, the size of the entire join...

Claims

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Application Information

Patent Timeline
23 Aug 2019
Publication
CN110154080A
IPC
B25J17/02; B25J9/12
CPC
B25J17/0258; B25J9/123
Inventors
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