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Flexible collaborative robot modular joint

A technology of modular joints and robots, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of cable wear and poor design flexibility, and achieve the effect of large load self-weight, reduce processing costs, and increase design flexibility.

Pending Publication Date: 2020-02-04
敬科(深圳)机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problems of poor design flexibility and serious cable wear in existing collaborative robot modular joints
Furthermore, a flexible collaborative robot modular joint is provided

Method used

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  • Flexible collaborative robot modular joint
  • Flexible collaborative robot modular joint
  • Flexible collaborative robot modular joint

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0031] Specific implementation mode one: combine Figure 1 to Figure 5 Describe this embodiment, a modular joint of a flexible collaborative robot in this embodiment includes a joint housing 15; End encoder reading head 4, joint end encoder code disk mounting seat 5, joint end encoder reading head mounting seat 8, motor end encoder code disc 11, motor end encoder reading head 12, rear cover 13, brake assembly 14 , motor assembly 17, harmonic reducer 18, protective pipe 21 and output flange 22; the motor assembly 17 and harmonic reducer 18 are installed in the joint housing 15 in sequence from left to right, and the motor assembly 17 and the harmonic The input end of the reducer 18 is connected, the output flange 22 is installed on the output end of the harmonic reducer 18, the wire protection tube 21 is passed through the motor shaft 16 of the motor assembly 17 and connected with the output flange 22, the brake assembly 14 Installed in the joint housing 15 and on the left sid...

specific Embodiment approach 2

[0040] Specific implementation mode two: combination figure 1 Describe this embodiment, the motor assembly 17 of this embodiment includes a motor stator, a motor rotor and a motor shaft 16, the motor stator is fixedly mounted on the inner side wall of the joint housing 15, and the motor shaft 16 is horizontally installed in the joint housing 15, The motor rotor is located between the motor stator and the motor shaft 16 , and the motor rotor is fixedly connected to the motor shaft 16 . Set up in this way, it is easy to provide enough power to the joint. Other compositions and connections are the same as in the first embodiment.

[0041] The motor shaft 16 in this embodiment is a hollow stepped shaft.

specific Embodiment approach 3

[0042] Specific implementation mode three: combination figure 1 The present embodiment will be described. The brake assembly 14 of the present embodiment is a magnetic friction brake. In this way, the brake assembly of this embodiment is a magnetic suction friction type. When the power is off, the brake locks the friction plate through the built-in spring, and the motor shaft cannot rotate through the brake hub; Contact brake: due to the friction brake principle, when the robot stops suddenly, it is safer and more reliable than the pin brake. There is no problem of bent pins and shaking joints when powered on. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention relates to a flexible collaborative robot modular joint, and relates to a modular joint. The flexible collaborative robot modular joint aims to solve the problems of poor design flexibility and serious cable wear of an existing collaborative robot modular joint. A motor component and a harmonic reducer of the flexible collaborative robot modular joint are installed in a joint housing, an output flange is installed on the harmonic reducer, a wire protection tube is connected to the output flange and is arranged in a motor shaft in a penetrating manner, a brake component is installed in the joint housing, a motor-end encoder reading head is installed in the joint housing through the motor-side encoder reading head mounting seat, a motor-side encoder coded disk is mounted on themotor shaft, a joint-end encoder reading head is connected with the joint housing through a joint-end encoder reading head mounting seat, a joint-end encoder coded disk is installed on the wire protection tube, and a joint servo driver is connected to the joint housing; a back cover is connected to the joint housing; and the distance between the joint-end encoder reading head and the motor-end encoder reading head is adjusted through a spacer. The flexible collaborative robot modular joint is used in the field of robots.

Description

technical field [0001] The invention relates to a modular joint, in particular to a flexible collaborative robot modular joint, belonging to the technical field of robot joints. Background technique [0002] Under the background of German Industry 4.0, high-end intelligent equipment is required, and the intelligent robot industry is ushering in a new round of development opportunities. At present, the production mode of the world's manufacturing industry is facing a transformation from mass production to user customization, and there is a strong demand for flexible, intelligent, and personalized manufacturing. As an important branch of robots, collaborative robots have achieved rapid development since their birth. The industrialization process has been accelerating, new manufacturers are increasing, application fields are expanding, and business models are constantly innovating. Human-machine collaborative robots have outstanding advantages such as complementary human-machi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J17/02
CPCB25J17/00B25J17/0208
Inventor 孙敬颋郭廷山
Owner 敬科(深圳)机器人科技有限公司
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