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Hollow modular joint

A modular joint, hollow technology, applied in the field of robotics, can solve the problems of poor load capacity, easy winding, large volume, etc., and achieve the effect of solving the winding and wiring difficulties of hollow wires, and the effect of reliable connection

Pending Publication Date: 2020-02-21
ANHUI UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The outer wiring type is not modular enough as a whole, the number of wires is large, the wires are easy to entangle, and it is not beautiful enough. Therefore, in recent years, the modular joints have developed towards the direction of hollow inner wiring. However, the common hollow modular joints currently on the market All require customized hardware, which is costly; other modular joints using standard hardware have complex structures, large volumes, cumbersome loading and unloading, and poor load capacity

Method used

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Such as figure 1 , figure 2 , image 3 as shown, figure 1 is a front sectional view of the hollow modular joint; figure 2 is a side sectional view of the hollow modular joint; image 3 It is a stereoscopic view of the hollow modular joint; the hollow modular joint of the present invention includes a harmonic reducer 1, a housing 4, a hollow shaft 5, a hollow motor, and a hollow wiring device; the harmonic reducer 1 It is fixedly connected with the shell 4, the hollow shaft 5, the hollow motor and the hollow wiring device are all arranged in the shell 4, and the end of the hollow shaft 5 is connected with the harmonic reducer 1 connection, the hollow motor is set corresponding to the hollow shaft 5 to drive the rotation of the hollow shaft 5, the harmonic reducer 1 realizes deceleration output for the rotation of the hollow shaft 5, and the hollow wire routing device realizes the wire The hollow wiring inside the hollow modular joint.

[0034] Preferably, the har...

Embodiment 2

[0037] Such as Figure 4 as shown, Figure 4It is a structural view of the housing; the housing 4 includes a three-level installation surface, and the three-level installation surface is a first step 0401, a second step 0402, and a third step 0403 arranged in sequence along the axis of the hollow shaft , each step is provided with a positioning notch to ensure the coaxiality of each installation part; specifically, the first step 0401 is used for fixed installation of the harmonic reducer 1 and the incremental encoder, so The motor flange 11 is fixed on the second step 0402 , and the input flange 14 is fixed on the third step 0403 .

[0038] The housing 4, the harmonic reducer 1, the hollow shaft 5, the hollow motor, the motor flange 11, the braking device, the input flange 14, the hollow cable routing device sequentially installed on the same axis.

[0039] Preferably, the material used for the shell 4 is 7075 aluminum alloy, which has good processing performance, light we...

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Abstract

The invention discloses a hollow modular joint. The hollow modular joint comprises a harmonic reducer, a shell, a hollow shaft, a hollow motor and a hollow wiring device, the harmonic reducer and theshell are fixedly connected, the hollow shaft, the hollow motor and the hollow wiring device are all arranged in the shell, the end of the hollow shaft is connected with the harmonic reducer, the hollow motor is arranged corresponding to the hollow shaft so as to drive the hollow shaft to rotate, the harmonic reducer achieves deceleration output on rotation of the hollow shaft, and the hollow wiring device achieves hollow wiring of a wire inside the hollow modular joint. According to the hollow modular joint, by arranging the hollow wiring device, the problems of hollow wiring winding and wirearrangement difficulty are solved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a hollow modular joint. Background technique [0002] Modular technology has been widely used in product development and design in the field of robotics. The core idea of ​​deformable and reconfigurable robots is modularization, and the whole robot is an effective combination of several modules. As a hotspot in current robot research, compared with traditional robots, reconfigurable modular robots have stronger adaptability to tasks and environments and are more flexible. At the same time, they can simplify design, manufacture and maintenance, shorten development cycles and reduce development costs. Greatly enhance the flexibility and elasticity of system construction. [0003] The modular joint is the core component of the reconfigurable modular manipulator. The modular joint can be divided into two types according to the wiring method: the outer wiring type and the hollow inne...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/0258Y02P70/10
Inventor 高文斌王志华
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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