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Modular joint of collaborative robot

A technology of modular joints and robots, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve problems such as brakes, servo drive boards, and uncompact structures, and achieve accurate position feedback, rapid response improvement, and novel structures.

Pending Publication Date: 2020-07-28
CHENGDU CRP ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] (2) Input and output problems of reducer
[0007] The input shaft end of the reducer has poor assembly accuracy, and the connection structure between the output shaft end and the absolute encoder is not compact
[0008] (3) Brake problem
[0009] Traditional magnetic powder brakes have high requirements for machining accuracy, high heat generation, high price, and uncompact structure, which cannot meet the existing design requirements
[0010] (4) Servo drive board problem

Method used

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  • Modular joint of collaborative robot
  • Modular joint of collaborative robot
  • Modular joint of collaborative robot

Examples

Experimental program
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Effect test

Embodiment 1

[0038] like figure 1 As shown, a modular joint of a collaborative robot includes a joint shell 1, a motor, a harmonic reducer, and a brake structure. The motor used to drive the harmonic reducer to rotate is installed inside the joint shell 1, and the harmonic reducer serves as The front cover of the joint housing 1 is installed at the end of the joint housing 1 and the output end of the harmonic reducer is set inside the joint housing 1 and connected with the encoder assembly. The plastic ring 3 and the rubber ring 4 are placed on the harmonic reducer Between the joint housing 1.

[0039] The output end of the motor is equipped with brake pads 14, and the brake pads 14 are hexagonal, such as Figure 5 Shown; The brake structure for controlling the brake pad 14 in the braking or non-braking state is installed on the encoder assembly.

[0040] In this embodiment, the harmonic reducer includes a harmonic reducer body 2 and a harmonic reducer end cover 29 connected to the harmo...

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Abstract

The invention discloses a modular joint of a collaborative robot, and belongs to the technical field of robots. The modular joint of the collaborative robot comprises a joint shell, a motor, a harmonic speed reducer and a brake structure, the motor used for driving the harmonic speed reducer to rotate is installed in the joint shell, the harmonic speed reducer serves as a front cover of the jointshell to be installed at the end of the joint shell, the output end of the harmonic speed reducer is arranged in the joint shell and connected with an encoder assembly, a brake pad is installed at theoutput end of the motor, and the brake structure used for controlling the brake pad to be in a brake state or a non-brake state is installed on the encoder assembly. The modular joint of the collaborative robot is sufficient in position braking precision, sufficient in braking force, high in force feedback sensitivity, compact in structure, good in replaceability, capable of being produced on a large scale, high in cooperativity and high in safety.

Description

technical field [0001] The invention relates to the technical field of collaborative robots, and more specifically relates to a modular joint of a collaborative robot. Background technique [0002] With the introduction of "Industry 4.0", the state and enterprises pay more attention to the development of key technologies for intelligent manufacturing. As the field of robotics continues to advance. Collaborative robots have become a new direction for the development of industrial robots. A large number of analyzes pointed out that the explosive point of the next industry is all focused on collaborative robots. Collaborative robots have the characteristics of modularity, light weight, large load / weight ratio, safety and reliability, and rapid deployment. [0003] In collaborative robot technology, there are some problems that need to be solved, mainly including: [0004] (1) Hollow motor problem [0005] The hollow motor needs internal wiring, and there is friction with t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/02
Inventor 李祥何龙申鹏林
Owner CHENGDU CRP ROBOT TECH CO LTD
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