Execution joint integrated structure for exoskeleton robot joints

Abstract

The invention belongs to the technical field of robots, and relates to an execution joint integrated structure for exoskeleton robot joints. The structure comprises a motor, wherein the motor is provided with a rotating shaft and a motor shell, and the motor shell is provided with a motor front end cover and a motor rear end cover connected with one end of the motor front end cover; a brake, wherein the brake is provided with a brake disc and a friction member, the brake disc is connected to the rotating shaft in a sleeving manner, and the friction member is arranged at the other end of the motor front end cover and used for braking the brake disc; a harmonic speed reducer, wherein the harmonic speed reducer is arranged on the rotating shaft and provided with a steel wheel, the steel wheelis provided with a fixing portion and an output portion rotationally arranged on the radial outer side of the fixing portion, the fixing portion is connected with the other end of the motor front endcover, and the harmonic speed reducer and the friction member are further arranged on the two sides of the brake disc separately; and an output end cover, wherein the output end cover is connected with the output portion and further connected with the exoskeleton robot joints. The rotating shaft is rotationally arranged in an outer shell formed by the motor shell, the steel wheel and the output end cover. By means of the scheme, the compactness of the structure is improved, and the size is reduced.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an integrated structure of an executive joint for an exoskeleton robot joint. Background technique [0002] It is of great value and revolutionary significance to implement the joint-integrated structure in the joints of exoskeleton machines. It brings problems of poor stability, large volume, large mass and large inertia to the long-term use of reducers, motors and brakes for single installation combination and separation of drive and control. , These problems have always been the key technical issues that need to be solved for the joints of exoskeleton robots. The solution of the problems is of great significance to the improvement of the performance, practicality and industrialization of exoskeleton robots. [0003] The joint execution structure of traditional exoskeleton robots is mainly composed of a single motor and reducer integrated structure, hydraulic structu...

AI Technical Summary

Problems solved by technology

[0003] The joint execution structure of traditional exoskeleton robots is mainly composed of a single motor and reducer integrated structure, hydraulic structure, and ball screw structure. The decline in torque and real-time response directly affects the performance and accuracy of joint motion, and directly affects the performance and maturity of exoskeleton robots.

[0004] At present, there are integrated machines integrating motor and harmonic reducer, and integrated machines integrating motor, harmonic reducer and driver. They are simple integrated execution joints designed for industrial robots or collaborative robots. They can be used in To a certain extent, the integration of joints can be improved, but it cannot be applied to the special execution joint parts of exoskeleton robots, and the above integrated joints have the following disadvantages: First, the hollow structure is not considered, so the entire integrated joint still needs traditional walking. Second, each component is assembled in order, and the degree of integration is not high, and a unified shared structure is not formed according to the structural characteristics of each component; Third, the relay connection structure is not considered, and many When two joints are used together, there will be a lot of wires. It is not considered to use a communication wire and a power wire in series, resulting in complicated routing. Fourth, it is not considered to integrate the encoder, hollow flat motor, reducer, brake and driver. The integrated design results in either no braking function or separate use of the drive and control, resulting in reduced performance of the entire joint and a low degree of practicality

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