Small robot unloading rotary joint

Abstract

The invention relates to a small robot unloading rotary joint, and relates to the technical field of robots. The small robot unloading rotary joint comprises a speed reducer connected with a large armand a small arm; one end of the speed reducer is arranged in the large arm, and the other end is arranged in the small arm; as the end part of the speed reducer extends into the small arm, and a bearing is arranged between the speed reducer and the small arm, radial loads acted on an output shaft of the speed reducer and a flexible wheel can be unloaded (transferred) onto an outer shell of the speed reducer, the radial loads are suffered by the outer shell of the speed reducer, and the output shaft of the speed reducer and the flexible wheel only bear torques without bearing the radial load effect; and alternating loads acted on the output shaft and the flexible wheel are converted to pure torsion loads, so that the bearing capacity of the speed reducer can be improved, the volume and theweight of the speed reducer are reduced, the bearing capacity of the rotary joint is improved, and the volume and the total weight of the rotary joint are reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a small robot unloading rotary joint. Background technique [0002] At present, there are more and more application fields of robots, and there are more and more types of robots. The requirements for the size, weight and carrying capacity of robots are also increasing. Some industrial robots, especially some special robots, require small size, light weight and large carrying capacity. This poses a considerable challenge to the design of the robot. figure 1 is the working schematic diagram of the existing robot with 5 revolving joints, figure 2 , image 3 is the simplified mechanical model of the robot around the third joint, such as figure 2 and 3 As shown, the loads on the third joint include radial load F and torque M; Figure 4 is the structure diagram of the third joint, the load F and torque M transmitted by the forearm act on the output shaft of the harmonic reducer ...

AI Technical Summary

Problems solved by technology

Sometimes, in order to improve the carrying capacity and service life of the equipment, it is necessary to increase the size and weight of the equipment to meet the requirements of the carrying capacity and service life. In this way, the volume and weight of the equipment will become very large

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