Integrated electric joint module

Abstract

The invention provides an integrated electric joint module. The integrated electric joint module comprises a shell, a frameless servo motor, a planetary reduction mechanism, an encoder and a motor driver, wherein the shell is cylindrical; the frameless servo motor is used for providing power and comprises a stator and a rotor located outside the stator, and the rotor is rotationally arranged in the shell; the planetary reduction mechanism is arranged inside the stator and comprises a sun shaft, a planet gear, an inner gear and a planet carrier, the sun shaft is connected with the rotor to rotate together with the rotor, the inner gear is connected with the shell, the stator is arranged on the outer side wall of the inner gear, and the planet carrier is connected with the planet gear engaged between the sun shaft and the inner gear to serve as a power output end of the integrated electric joint module; the encoder is located in the shell and arranged on the sun shaft; and the motor driver is located in the shell and connected with the encoder and the stator. Through the above scheme, the joint module is compact in structure, the overall size of the joint module is reduced, and the joint module has the characteristics of lightness and modularization, and is suitable for being used as a basic driving motion unit to build various robots.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an integrated electric joint module. Background technique [0002] Along with industrial upgrading and the development of robot technology, modularization and lightweight have become the common needs and trends of various wheeled mobile robots, legged mobile robots, robotic arms, wearable robots and other robots. As an independent transmission unit and core component of the robot, the robot joint module determines the overall size, load capacity, motion speed and accuracy of the robot, and even the development cycle and life of the entire robot. [0003] However, in the prior art, high-speed, high-torque hollow motors, high-reduction ratio reducers, and high-power motor drivers are commonly used for high integration, making the joint module structure tend to be slender, focusing on speed and precision, while sacrificing part of the torque. For example, the leg joints of legged ro...

AI Technical Summary

Problems solved by technology

[0004] In summary, developing a highly integrated electric joint module that can integrate drive, transmission and control, while solving the existing problems of complex structure, large volume, and low motion accuracy, has become a challenge for those skilled in the art. Problems to be solved

Images