Modular robot joint integrating driving and detecting functions

Abstract

The invention discloses a modular robot joint integrating driving and detecting functions. The modular robot joint comprises a speed reducer assembly adopting harmonic drive for speed reduction, a motor assembly, an encoder assembly and a speed reducer return shaft, wherein the speed reducer assembly is mounted at the left end of the motor assembly, the encoder assembly is installed at the right end of the motor assembly, and the motor assembly comprises a motor stator, a motor rotor, a motor bearing, a motor base end cover, a motor shell and a motor shaft of a hollow structure. According to the modular robot joint, the hollow structure of a frameless motor is utilized, a compact incremental and absolute double-encoder module is adopted, the angle of an output shaft of the speed reducer isreturned to the motor end for detection by designing the return shaft, integration and modular design of the driving unit are achieved, and the modular servo driving unit has the capability of simultaneously acquiring angle information of the motor rotating shaft and the reducer output shaft.

Description

technical field [0001] The invention relates to the field of modular robot joints, in particular to a modular robot joint integrating driving and detection functions. Background technique [0002] At present, the drive unit composed of servo motor and reducer has been widely used in various automatic electromechanical equipment such as industrial robots and CNC machine tools. System components are developing towards small size, integration and modularization. [0003] The output driving torque of the motor is generally relatively small, and it is basically necessary to add a reducer to improve the load driving capability of the motor in electromechanical equipment. Occasionally, the photoelectric encoder relying on the servo motor alone often cannot meet the motion accuracy requirements, and additional position detection components need to be added to eliminate the motion error caused by the reducer. [0004] The traditional solution is to design and connect additional pos...

AI Technical Summary

Problems solved by technology

[0003] The output driving torque of the motor is generally relatively small, and it is basically necessary to add a reducer to improve the load driving capability of the motor in electromechanical equipment. Occasionally, the photoelectric encoder relying on the servo motor alone often cannot meet the motion accuracy requirements, and it is necessary to add additional position detection components to eliminate the motion error caused by the reducer.

[0004] The traditional solution is to design and connect additional position detection sensors, such as gratings, rotary encoders, etc., to the end of the output shaft of the reducer or the motion mechanism to improve the accuracy of the movement of the equipment mechanism, but this solution often increases the complexity of the mechanism design. The complexity and volume are not conducive to the integration and miniaturization of the mechanism system of the equipment

Images