Joint driving module, seven-axle mechanical arm and robot

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...

AI Technical Summary

Problems solved by technology

Due to the gear reducer, the size of the entire joint module is large, which in turn leads to a large size of the joints of the entire robotic arm, and the joint speed is low

And if this kind of module is not equipped with a reducer, the torque of the common joint motor it uses is insufficient

That is, for the joint motor module in the prior art, under the condition of limited size, the torque and the rotational speed are inversely correlated, which greatly affects the performance of the robot; and in the prior art, the 7-axis joint Type robots set the first joint, the third joint, the fifth joint and the seventh joint as the rotation joints, and the second joint, the fourth joint and the sixth joint as the swing joints. and longer arm size

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