Highly-integrated modular collaboration robot joint module

Abstract

The invention relates to a highly-integrated modular collaboration robot joint module. The highly-integrated modular collaboration robot joint module comprises a joint body, a harmonic speed reducer,a frameless torque motor, a brake, an encoder and a driver, wherein the harmonic speed reducer is arranged in the first end of the joint body and is provided with an input shaft and an output shaft; the frameless torque motor is arranged in the joint body and is sleeved outside the input shaft; a rotor of the frameless torque motor is connected with the input shaft; a stator of the frameless torque motor is connected with the inner wall of the joint body; the brake is arranged in the joint body and is used for braking the input shaft; the encoder is connected with the input shaft and the output shaft; and the driver is arranged on the joint body and is electrically connected with the frameless torque motor, the brake and the encoder. The highly-integrated modular collaboration robot jointmodule has the characteristics of high integration and small size; the encoder is integrated on the driver; the internal space is greatly saved; the customized light harmonic speed reducer is adopted,so that the overall size of the joint module is small; and the joint module is simple in junction structure and convenient to disassemble and assemble.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a highly integrated modular collaborative robot joint module. Background technique [0002] At present, industrial robots are innovating and constantly seeking changes. And intelligence and digitization have gradually become the mainstream of the industry, and collaborative robots have begun to emerge and are favored by the market. In order to speed up the development progress of collaborative robots and realize mass production, it is necessary to carry out modular design on the components of collaborative robots. The joint module is one of the typical components of the collaborative robot, mainly composed of a reducer, a frameless torque motor, an encoder and a driver. However, the existing joint modules generally exist: [0003] 1) The motor stator and the joint body are separated due to different expansion coefficients (different materials); [0004] 2) The volume is bulky ...

AI Technical Summary

Problems solved by technology

[0003] 1) The motor stator and the joint body are separated due to different expansion coefficients (different materials);

[0004] 2) The volume is bulky and the integration level is low;

[0006] 4) The reliability is poor, and there will be loose threads and gaps at the joints during long-term operation;

[0007] 5) Severe heat generation during operation or poor heat dissipation of the body structure, resulting in high temperature on the outer surface of the joint module;

[0008] 6) Poor runtime stability

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