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Low-noise modular joint of cooperative robot

A modular joint and robot technology, applied in the field of robots, can solve problems such as scratches and joint noise, and achieve the effect of less noise

Active Publication Date: 2020-09-22
敬科(深圳)机器人科技有限公司
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0005] When the above scheme is not braking, the elastic member is used to separate the brake disc from the brake seat, and the joint will vibrate during the movement, and the position of the brake disc is not completely limited. At this time, the brake disc will vibrate when it is vibrated There is rubbing against the brake seat, which causes noise when the joint is in use

Method used

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Embodiment Construction

[0039] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0040] A low-noise collaborative robot modular joint disclosed by the present invention prevents scratches between the friction plate 51 and the braking member 53 during the normal rotation of the joint, making it difficult to generate noise during the working process of the joint. Such as figure 1 As shown, it includes an inner ring shell 1, an outer ring shell 2 that rotates relative to the inner ring shell 1, a drive mechanism 3 connected to the inner ring shell 1, a harmonic reducer 4 that drives the outer ring shell 2 to rotate, and limits the outer ring The braking mechanism 5 for the rotation of the housing 2.

[0041] Such as figure 1 As shown, the driving mechanism 3 includes a motor shaft 31, a motor rotor 32 coaxially bonded to the motor shaft 31, a motor end cover 33 coaxially sleeved on the motor shaft 31, and a motor housing fixed to the motor...

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Abstract

The invention relates to a low-noise modular joint of a cooperative robot. The low-noise modular joint of the cooperative robot comprises an inner ring shell, a drive mechanism, a brake mechanism, a harmonic speed reducer, an outer ring shell and a joint servo driver, wherein the drive mechanism comprises a motor shaft, a motor rotor, a motor end cover, a motor shell and a motor stator; the brakemechanism comprises a friction plate, a mounting seat, a brake piece, an electromagnet and an elastic piece, the elastic piece drives the brake piece to move towards the friction plate, and the electromagnet attracts the brake piece to be far away from the friction plate; a drive end of the harmonic speed reducer is fixedly connected with the motor shaft, and a fixed end of the harmonic speed reducer is fixedly connected with the inner ring shell; and the outer ring shell is coaxially connected with the motor shaft, and is connected with a flexible end of the harmonic speed reducer. When a joint normally works, the electromagnet attracts the brake piece, therefore, the relative axial position of the brake piece and the friction plate cannot be changed, the brake piece and the friction plate cannot be scratched easily, and noise cannot be generated easily when the joint works.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a modular joint of a low-noise collaborative robot. 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-machine advantages, strong environm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 郭廷山孙敬颋陈杰孙骏
Owner 敬科(深圳)机器人科技有限公司
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