Robot joint deceleration output mechanism

Abstract

The invention belongs to the field of robots and artificial intelligence, and particularly relates to a robot joint deceleration output mechanism. The mechanism comprises a motor, a planetary reducerdevice and a position feedback device; the planetary reducer device comprises a sun gear, a planetary gear set, a planetary shaft, a pin, an inner gear ring, an angular contact bearing, a planet carrier base, a planet carrier gland and an output end flange disc; the position feedback device comprises a magnetic element, a magnetic encoder and a signal connecting line; a motor output shaft of the motor is fixed to the sun gear, the sun gear drives the planetary gear set to rotate, so that the primary speed reduction is realized and torque is increased; the planetary gear set drives the inner gear ring to rotate, so that the secondary speed reduction is realized and the torque is increased; and the inner gear ring and the output end flange disc are fixed to each other, so that the output endflange disc rotates together with the inner gear ring. According to the mechanism, the output end flange disc is provided with the magnetic element, the magnetic encoder directly faces the magnetic element and is arranged in the planet carrier gland, so that the angle position of the output end flange disc is read in real time, and the high-precision control is realized in combination with a driver.

Description

technical field [0001] The invention belongs to the field of robots and artificial intelligence, in particular to a robot joint deceleration output mechanism. Background technique [0002] With the continuous advancement of science and technology, the robot has also made great progress, and its various structures are becoming more and more mature. One of the key components of the robot movement is the joint. The structure of the robot joint has been continuously improved. and lightweight development. The most important thing in the robot joint structure is the reducer, especially for service robots that have sensitive requirements for weight. RV reducers and harmonic reducers, which are widely used in the field of industrial robots, are too bulky in weight and volume, complex in manufacturing process, and high in cost, and are not suitable for transplantation into the field of multi-joint service robots. Another common servo has low precision, small load, and low stiffness...

AI Technical Summary

Problems solved by technology

[0004] 1) The output shaft is too small, insufficient rigidity, easy to deform, not suitable for bearing large loads

[0005] 2) There is no space to install the position feedback device at the output end. If necessary, it is necessary to add an additional transmission mechanism and a reducer to form a wrong-axis installation

[0007] 4) If the output end is to bear a large load capacity, the selected reducer and motor need to be large in size, resulting in a bloated mechanical structure of the entire joint and taking up a large space

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