A highly integrated modular collaborative robot joint module

Abstract

The invention relates to a highly integrated modular collaborative robot joint module, which includes a joint body, a harmonic reducer, a frameless torque motor, a brake, an encoder and a driver; a harmonic reducer is arranged inside the first end of the joint body, The harmonic reducer is equipped with an input shaft and an output shaft; the frameless torque motor is set inside the joint body and sleeved outside the input shaft; the rotor of the frameless torque motor is connected to the input shaft, and the stator of the frameless torque motor is connected to the joint body The inner wall of the joint is connected; the brake is set in the joint body for braking the input shaft; the encoder is connected with the input shaft and the output shaft; the driver is set on the joint body and is electrically connected with the frameless torque motor, brake, and encoder. The present invention has the characteristics of high integration and small volume. The encoder is integrated into the driver, which greatly saves the internal space, and a custom-made light harmonic reducer is used to make the overall volume of the joint module smaller; the joint module of the present invention The group connection is simple in structure and easy to assemble and disassemble.

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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