Robotic arm joint

Abstract

The present invention provides a robotic arm joint, which relates to the technical field of robotic arms. The joint includes a motor, a synchronous pulley, a synchronous belt, a joint output shaft, a motor driver, a harmonic reducer, a brake and a detection component; the detection component includes a torque sensor and an absolute encoder; the first synchronous pulley is fixedly connected to the shaft of the motor, and the brake is coaxially installed with the shaft of the motor; the rotation axes of the first synchronous pulley and the second synchronous pulley are parallel, and the synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley; the second synchronous pulley is fixedly connected to the harmonic reducer, the harmonic reducer is fixedly connected to the joint output shaft, and the harmonic reducer is fixedly connected to the torque sensor; the second synchronous pulley, the harmonic reducer, the motor driver, the torque sensor and the absolute encoder are all hollow and are all coaxially installed with the joint output shaft. The present invention realizes improving the performance of the robotic arm joint while expanding the applicable range and reducing the volume of the robotic arm joint.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and particularly to a robotic arm joint. Background Art

[0002] In order to reduce the volume of the joint and improve the degree of integration, in the prior art, a motor, a motor driver, a harmonic reducer, a brake, a torque sensor, an absolute encoder, etc. in the robotic arm joint are coaxially installed.

[0003] The advantages of the above design method are compact structure and wire routing through the hollow shaft. The disadvantages are that, on the one hand, it has high requirements for the type of devices. For example, only a hollow shaft motor can be selected for the motor, and it has high requirements for installation accuracy and a small application range. On the other hand, the motor and the electromagnetic brake are closely surrounded by other devices, and it is not easy to dissipate heat. The heat generation and electromagnetic interference of the motor and the electromagnetic brake have a great impact on the performance of the cables, the motor drive board, and the sensors, thereby affecting the performance of the robotic arm joint. Summary of the Invention

[0004] The present invention provides a robotic arm joint to solve the defects in the prior art that the devices in the robotic arm are all coaxially installed, which not only has a small application range but also affects the performance of the robotic arm joint, and realizes improving the performance of the robotic arm joint while expanding the application range.

[0005] The present invention provides a robotic arm joint, including a motor, a synchronous pulley, a synchronous belt, a joint output shaft, a motor driver, a harmonic reducer, a brake, and a detection component;

[0006] The detection component includes a torque sensor and an absolute encoder;

[0007] Wherein, the synchronous pulley includes a first synchronous pulley and a second synchronous pulley;

[0008] The first synchronous pulley is fixedly connected to the shaft of the motor, and the brake is coaxially installed with the shaft of the motor;

[0009] The rotation axes of the first synchronous pulley and the second synchronous pulley are parallel, and the synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley;

[0010] The second synchronous pulley is fixedly connected to the harmonic reducer, the harmonic reducer is fixedly connected to the joint output shaft, and the harmonic reducer is fixedly connected to the torque sensor;

[0011] The second synchronous pulley, the harmonic reducer, the motor driver, the torque sensor, and the absolute encoder are all hollow;

[0012] The second synchronous pulley, the harmonic reducer, the motor driver, the torque sensor, and the absolute encoder are all coaxially installed with the joint output shaft.

[0013] According to a robotic arm joint provided by the present invention, the motor driver is installed behind the second synchronous pulley, and at the same time, the absolute encoder is installed behind the second synchronous pulley.

[0014] According to a robotic arm joint provided by the present invention, the harmonic reducer includes an input shaft and an output flange;

[0015] Wherein, both the input shaft and the output flange are hollow and are coaxially installed with the joint output shaft;

[0016] The input shaft of the harmonic reducer is fixedly connected to the second synchronous pulley, and the output flange is fixedly connected to the joint output shaft;

[0017] The motor is used to rotate under the control of the motor driver, and drives the first synchronous pulley, the synchronous belt, the second synchronous pulley, and the input shaft and the output flange of the harmonic reducer to rotate.

[0018] According to a robotic arm joint provided by the present invention, the input side of the torque sensor is fixedly connected to the output flange of the harmonic reducer, and the output side of the torque sensor is fixedly connected to the output end link of the robotic arm joint;

[0019] The torque sensor is used to detect the torque value transmitted between the input end link and the output end link of the robotic arm joint.

[0020] According to a robotic arm joint provided by the present invention, the absolute encoder includes a reading head and a detector;

[0021] The detector includes a magnetic grating or a grating;

[0022] Both the detector and the reading head are hollow;

[0023] Both the detector and the reading head are coaxially installed with the joint output shaft, and the detector is fixed on the joint output shaft;

[0024] The absolute encoder is used to detect the rotation condition of the joint output shaft.

[0025] According to a robotic arm joint provided by the present invention, the brake is coaxially installed with the motor;

[0026] When the brake is in a power-off state, the brake is used to prevent the output shaft of the motor from rotating and prevent the synchronous pulley, the synchronous belt, and the harmonic reducer from rotating.

[0027] According to a robotic arm joint provided by the present invention, the joint output shaft is a hollow shaft;

[0028] The cables of the robotic arm joint pass through the joint output shaft and are connected to the motor driver;

[0029] The cables include a power supply cable and a communication cable;

[0030] The cables include the cables of the torque sensor, motor, brake, and absolute encoder in the robotic arm joint.

[0031] A robotic arm joint provided by the present invention further includes a base;

[0032] The stator of the motor, the outer shell of the brake, the outer shell of the harmonic reducer, the motor driver, and the reading head of the absolute encoder are all fixed on the base.

[0033] A robotic arm joint provided by the present invention, the motor is a hollow shaft motor or a solid shaft motor.

[0034] A robotic arm joint provided by the present invention, the motor, the first synchronous pulley, and the brake are embedded in the input end link of the robotic arm joint;

[0035] The second synchronous pulley, the harmonic reducer, the torque sensor, the joint output shaft, and the absolute encoder are respectively connected to the output end link of the robotic arm joint.

[0036] For the robotic arm joint provided by the present invention, by setting the first synchronous pulley fixedly installed on the shaft of the motor, the motor is connected to the second synchronous pulley through the first synchronous pulley, and then connected to other devices such as the joint output shaft and the harmonic reducer, while being spaced apart from other devices, realizing two-stage transmission through the synchronous pulley and the harmonic reducer, transmitting power to the joint output shaft, and then controlling the robotic arm joint to perform precise actions. On the one hand, the motor is fixedly connected to the joint output shaft through the synchronous pulley and the synchronous belt. Not only can the connection method be set according to actual needs, with diverse connection methods, the motor can choose either a hollow shaft motor or a solid shaft motor, with a wider selection range, but also a larger reduction ratio can be obtained through two-stage transmission; on the other hand, the motor and the brake are independently installed from other devices such as the motor driver and the absolute encoder, and are separated by a certain distance, which can effectively reduce the interference caused by the heat generation of the motor and the brake and electromagnetic interference to the cables, motor control, and sensor signal transmission, etc., and effectively improve the performance of the robotic arm joint. Description of the Drawings

[0037] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the attached drawings required for the description of the embodiments or the prior art. Obviously, the attached drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other attached drawings can also be obtained based on these attached drawings.

[0038] Figure 1 It is a schematic structural diagram of a robotic arm joint provided by the present invention.

[0039] Reference numerals:

[0040] 1: Base; 2: Motor; 3: Housing of harmonic reducer; 4: First synchronous pulley; 5: Second synchronous pulley; 6: Synchronous belt; 7: Brake; 8: Torque sensor; 9: Reading head of absolute encoder; 10, Detector of absolute encoder; 11: Joint output shaft; 12: Input shaft of harmonic reducer; 13: Output flange of harmonic reducer; 14: Motor driver. Specific embodiments

[0041] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the attached drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0042] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the attached drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the embodiments of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the prior art, in order to reduce the volume of the joint and improve the degree of integration, the motor, motor driver, harmonic reducer, brake, torque sensor, absolute encoder, etc. are coaxially installed. In this kind of robotic arm joint, only a hollow shaft motor can be selected for the motor, and the installation accuracy requirement is relatively high; moreover, it is not easy for the motor and electromagnetic brake to dissipate heat, and the heat generation and electromagnetic interference of the motor and electromagnetic brake have a great impact on the performance of the cable, motor drive board, and sensor; at the same time, there are too many axial components, the axial length increases, the cable length increases, and the volume of the robotic arm also increases.

[0045] In view of the above problems, the present application provides a robotic arm joint. The following combines Figure 1 to describe the robotic arm joint of the present application. The robotic arm joint includes a motor 2, a synchronous pulley, a synchronous belt 6, a joint output shaft 11, a motor driver 14, a harmonic reducer, a brake 7, and a detection component; the detection component includes a torque sensor 8 and an absolute encoder;

[0046] Optionally, the motor 2 is used to provide power for the robotic arm joint to drive the robotic arm joint to perform actions; the motor 2 can be a hollow shaft motor or a solid shaft motor, and this example does not make specific limitations on this.

[0047] The synchronous pulley and the synchronous belt 6 are used to connect the input end link and the output end link of the robotic arm joint to transmit the power of the input end link to the output end link and control the robotic arm joint to perform actions.

[0048] The motor driver 14 is used to provide driving force for the motor 2.

[0049] The harmonic reducer is also used to transmit the power of the input end link to the output end link to control the robotic arm joint to perform actions.

[0050] The brake 7 is used to control the operating state of the motor 2.

[0051] The detection component is used to detect the state of the robotic arm joint, including but not limited to detecting the output torque, rotation angle, etc. The detection component includes but not limited to a torque sensor 8 and an absolute encoder. Among them, the torque sensor 8 is used to detect the output torque of the robotic arm joint, and the absolute encoder is used to detect the rotation angle of the robotic arm joint.

[0052] It should be noted that one or more combinations of the motor 2, synchronous belt pulleys, synchronous belt 6, joint output shaft 11, motor driver 14, harmonic reducer, brake 7 and detection component can form a robotic arm joint module alone and then be fixed on the connecting rod of the robotic arm joint; or corresponding mounting holes can be provided inside the connecting rod of the robotic arm joint, and one or more combinations of the motor 2, synchronous belt pulleys, synchronous belt 6, joint output shaft 11, motor driver 14, harmonic reducer, brake 7 and detection component can be embedded inside the connecting rod of the robotic arm joint through the mounting holes to be integrated with the connecting rod of the robotic arm joint. This embodiment does not make specific limitations on this.

[0053] Among them, the synchronous belt pulleys include a first synchronous belt pulley 4 and a second synchronous belt pulley 5; the first synchronous belt pulley 4 is fixedly connected to the shaft of the motor 2, and the brake 7 is coaxially installed with the shaft of the motor 2; the rotation axes of the first synchronous belt pulley 4 and the second synchronous belt pulley 5 are parallel, and the synchronous belt 6 is sleeved on the first synchronous belt pulley 4 and the second synchronous belt pulley 5;

[0054] The synchronous belt pulleys include at least one set of the first synchronous belt pulley 4 and the second synchronous belt pulley 5;

[0055] Among them, the first synchronous belt pulley 4 and the brake 7 can be of a hollow structure;

[0056] The first synchronous belt pulley 4 is fixedly connected to the shaft of the motor 2, and both the first synchronous belt pulley 4 and the brake 7 are coaxially installed with the shaft of the motor 2 through their own hollow structures;

[0057] It should be noted that the first synchronous belt pulley 4, the motor 2 and the brake 7 can be fixed on the input end connecting rod or can be embedded inside the input end connecting rod. This embodiment does not make specific limitations on this.

[0058] The first synchronous belt pulley 4 and the second synchronous belt pulley 5 are installed in parallel, and their rotation axes are parallel; the synchronous belt 6 is sleeved on the first synchronous belt pulley 4 and the second synchronous belt pulley 5 and is used to conduct the power of the first synchronous belt pulley 4 to the second synchronous belt pulley 5 to control the movement of the robotic arm joint.

[0059] The second synchronous belt pulley 5 is fixedly connected to the harmonic reducer, the harmonic reducer is fixedly connected to the joint output shaft 11, and the harmonic reducer is fixedly connected to the torque sensor 8; the second synchronous belt pulley 5, the harmonic reducer, the motor driver 14, the torque sensor 8 and the absolute encoder are all hollow; the second synchronous belt pulley 5, the harmonic reducer, the motor driver 14, the torque sensor 8 and the absolute encoder are all coaxially installed with the joint output shaft.

[0060] Optionally, the second synchronous pulley 5 is fixedly connected to the harmonic reducer, the harmonic reducer is fixedly connected to the torque sensor 8, and the harmonic reducer is fixedly connected to the joint output shaft 11, so that when the motor rotates, the second synchronous pulley is driven to rotate, and then the harmonic reducer and the shutdown output shaft are driven to act to control the movement of the robotic arm joint.

[0061] Optionally, in order to make the overall structure of the robotic arm joint more compact and reduce the volume of the robotic arm joint, the second synchronous pulley 5, the harmonic reducer, the motor driver 14, the torque sensor 8 and the absolute encoder can all be set as hollow structures, so that the second synchronous pulley 5, the harmonic reducer, the motor driver 14, the torque sensor 8 and the absolute encoder can be coaxially installed with the joint output shaft 11 through the corresponding hollow structures.

[0062] The above fixed connection method can be set according to actual needs, such as fixed connection through a fixing device, or direct coaxial nested fixed connection, etc. This embodiment does not make specific limitations on this.

[0063] In the robotic arm joint provided in this embodiment, by setting the first synchronous pulley to be fixedly installed on the shaft of the motor, the motor is connected to the second synchronous pulley through the first synchronous pulley, and then connected to other components such as the joint output shaft and the harmonic reducer, while being spaced apart from other components, realizing two-stage transmission through the synchronous pulley and the harmonic reducer, transmitting power to the joint output shaft, and then controlling the robotic arm joint to perform precise actions. On the one hand, the motor is fixedly connected to the joint output shaft through the synchronous pulley and the synchronous belt. Not only can the connection method be set according to actual needs, with diverse connection methods, so that the motor can choose either a hollow shaft motor or a solid shaft motor, and the selection range is wider, but also a larger reduction ratio can be obtained through two-stage transmission; on the other hand, the motor and the brake are independently installed from other components such as the motor driver and the absolute encoder, and are separated by a certain distance, which can effectively reduce the interference caused by the heat generation of the motor and the brake and electromagnetic interference to the cable, motor control and sensor signal transmission, etc., and effectively improve the performance of the robotic arm joint.

[0064] On the basis of the above embodiment, in this embodiment, the motor driver is installed behind the second synchronous pulley, and at the same time, the absolute encoder is installed behind the second synchronous pulley.

[0065] Optionally, in order to make the overall structure of the robotic arm joint more compact and reduce the volume of the robotic arm joint, the motor driver 14 and the absolute encoder can be coaxially connected to the joint output shaft 11 through the corresponding hollow structures, and in order not to cause interference to other components, the motor driver and the absolute encoder can be installed behind the second synchronous pulley.

[0066] Based on the above embodiments, in this embodiment, the harmonic reducer includes an input shaft 12 and an output flange 13; wherein, both the input shaft 12 and the output flange 13 are hollow and are coaxially installed with the joint output shaft 11; the input shaft 12 of the harmonic reducer is fixedly connected to the second synchronous pulley, and the output flange 13 is fixedly connected to the joint output shaft 11; the motor 2 is used to rotate under the control of the motor driver 14 and drive the first synchronous pulley 4, the synchronous belt 6, the second synchronous pulley 5, the input shaft 12 and the output flange 13 of the harmonic reducer to rotate.

[0067] Optionally, the harmonic reducer includes an input shaft 12 and an output flange 13.

[0068] In order to make the overall structure of the robotic arm joint more compact and reduce the volume of the robotic arm joint, the entire harmonic reducer can be set to be hollow, that is, both the input shaft 12 and the output flange 13 are hollow structures.

[0069] Among them, the input shaft 12 and the output flange 13 of the harmonic reducer are coaxially installed with the joint output shaft 11 through the hollow structure, that is, the input shaft 12, the output flange 13, and the joint output shaft 11 are all located outside the same central axis.

[0070] In addition, the input shaft 12 of the harmonic reducer is fixedly connected to the second synchronous pulley 5, the output flange 13 is fixedly connected to the input side of the torque sensor 8, the output side of the torque sensor 8 is fixedly connected to the joint output shaft 11, and the output flange is fixedly connected to the joint output shaft 11.

[0071] The motor 2 rotates under the control of the motor driver 14, and at the same time drives the first synchronous pulley 4 to rotate. The first synchronous pulley 4 drives the synchronous belt 6 to rotate. The synchronous belt 6 drives the second synchronous pulley 5 to rotate. The second synchronous pulley 5 drives the input shaft 12 of the harmonic reducer to rotate. After being decelerated by the harmonic reducer, it drives the output flange 13 of the harmonic reducer to rotate, and then drives the joint output shaft 11 to rotate to achieve the control of the robotic arm joint.

[0072] Based on the above embodiments, in this embodiment, the input side of the torque sensor 8 is fixedly connected to the output flange 13 of the harmonic reducer, and the output side of the torque sensor 8 is fixedly connected to the output end link of the robotic arm joint; the torque sensor 8 is used to detect the torque value transmitted between the input end link and the output end link of the robotic arm joint.

[0073] Optionally, the torque sensor 8 is used to detect the output torque of the robotic arm joint.

[0074] Among them, the input side of the torque sensor 8 is fixedly connected to the output flange 13 of the harmonic reducer, and the output side of the torque sensor 8 is fixedly connected to the output end link of the robotic arm joint.

[0075] The torque sensor 8 can detect the magnitude of the torque transmitted between the input end link and the output end link of the robotic arm joint.

[0076] In this embodiment, by setting the torque sensor 8 to be coaxially connected to the joint output shaft 11, while reducing the volume of the robotic arm joint, the output torque of the robotic arm joint can be conveniently and accurately detected in real time, providing reference information for the control of the robotic arm joint, and then accurately controlling the robotic arm joint.

[0077] Based on the above embodiment, in this embodiment, the absolute encoder includes a reading head 9 and a detector 10; the detector 10 includes a magnetic grating or a grating; both the detector 10 and the reading head are hollow; both the detector 10 and the reading head 9 are coaxially installed with the joint output shaft 11, and the detector 10 is fixed on the joint output shaft 11; the absolute encoder is used to detect the rotation condition of the joint output shaft 11.

[0078] Optionally, the detector 10 may include a magnetic grating or a grating; when the detector 10 is a magnetic grating, the type of the absolute encoder is a magnetic encoder; when the detector 10 is a grating, the type of the absolute encoder is an optical encoder; the type of the detector 10 and the type of the absolute encoder can be specifically selected adaptively according to actual needs.

[0079] The whole absolute encoder is a hollow structure, that is, both the detector 10 and the reading head 9 are hollow structures; both the detector 10 and the reading head 9 are coaxially installed with the joint output shaft 11 through the hollow structures.

[0080] Optionally, the joint output shaft 11 is fixedly connected to the output side of the torque sensor 8, and the detector 10 is fixedly connected to the joint output shaft 11, so that the rotation condition of the joint output shaft 11, including the rotation angle and / or the rotation position, can be detected from the reading head 9.

[0081] In this embodiment, by setting the absolute encoder to be coaxially installed with the joint output shaft and fixing the detector on the joint output shaft, while reducing the volume of the robotic arm joint, the rotation angle of the joint output shaft can be conveniently and accurately detected in real time, providing reference information for the control of the robotic arm joint, and then accurately controlling the robotic arm joint.

[0082] On the basis of the above embodiments, in this embodiment, the brake 7 is coaxially installed with the motor 2; when the brake 7 is in a power-off state, the brake 7 is used to prevent the output shaft of the motor 2 from rotating, and to prevent the synchronous pulley, the synchronous belt 6, and the harmonic reducer from rotating.

[0083] Among them, the control method of the brake 7 is that the brake is released when powered on and the brake is tightened when powered off.

[0084] The type of the brake 7 can be an electromagnetic brake or other types, and this embodiment does not make specific limitations on this.

[0085] The brake 7 is coaxially installed with the shaft of the motor 2.

[0086] Optionally, in order to avoid abnormal movement of the robotic arm joint, when the robotic arm joint is in a static state or the motor 2 is in a power-off state, the brake 7 is in a power-off state, locking the output shaft of the motor 2, which can prevent the output shaft of the motor 2 from rotating, and further synchronously prevent the first synchronous pulley 4, the synchronous belt 6, the second synchronous pulley 5, and the harmonic reducer from rotating, so that the robotic arm joint remains in a static state.

[0087] In this embodiment, by setting the brake to be coaxially installed with the shaft of the motor, while reducing the volume of the robotic arm joint, the robotic arm joint can be safely protected in real time, and abnormal movement of the robotic arm joint can be avoided.

[0088] On the basis of the above embodiments, in this embodiment, the joint output shaft 11 is a hollow shaft; the cables of the robotic arm joint pass through the joint output shaft 11 and are connected to the motor driver 14; the cables include a power supply cable and a communication cable; the cables include the cables of the torque sensor 8, the motor 2, the brake 7, and the absolute encoder in the robotic arm joint.

[0089] Optionally, in order to avoid the cables exposed outside the joint from being wound during the movement of the robotic arm joint, damaging the cables, and further affecting the performance of the robotic arm joint, in this embodiment, the joint output shaft 11 is set as a hollow shaft; and the cables of the robotic arm joint are built into the hollow part of the joint output shaft 11, and the cables pass through the joint output shaft 11 and are connected to the motor driver 14.

[0090] Optionally, the cables of the torque sensor 8, the motor 2, the brake 7, and the reading head of the absolute encoder of the robotic arm joint can pass through the hollow part of the joint output shaft 11 and be connected to the motor driver 14, and other power supply cables and communication cables of the robotic arm joint can also pass through the hollow part of the joint output shaft 11 and be connected to other devices.

[0091] After the entire robotic arm joint is covered with a protective housing, no cables can be seen from the outside, achieving a high degree of integration. This not only saves the extra space occupied by cable laying but also avoids cable damage, thereby ensuring that the cables provide stable power and signals to the robotic arm joint and effectively improving the performance of the robotic arm joint.

[0092] Based on the above embodiments, this embodiment further includes a base 1; the stator of the motor 2, the housing of the brake 7, the housing of the harmonic reducer 3, the motor driver 14, and the reading head 9 of the absolute encoder are all fixed on the base 1.

[0093] Optionally, the stator of the motor 2, the housing of the brake 7, the housing of the harmonic reducer 3, the motor driver 14, and the reading head 9 of the absolute encoder are all fixedly installed on the base 1;

[0094] It should be noted that the motor 2 and the brake 7 are separated from the torque sensor 8, the absolute encoder (including the reading head 9 and the detector 10), and the motor driver 14 by a certain distance. This not only helps with heat dissipation but also enables signal detection of the torque sensor 8 and the absolute encoder (including the reading head 9 and the detector 10), and minimizes the electromagnetic interference and heat generation effects on the normal operation of the motor driver 14, effectively improving the performance of the robotic arm joint.

[0095] Based on the above embodiments, in this embodiment, the motor 2 is a hollow - shaft motor or a solid - shaft motor.

[0096] In this embodiment, the type of the shaft of the motor 2 can be set according to actual needs. It can be a solid shaft or a hollow shaft, effectively expanding the scope of application and reducing the installation accuracy requirements, making the robotic arm joint more adaptable.

[0097] Based on the above embodiments, in this embodiment, the motor 2, the first synchronous pulley 4, and the brake 7 are embedded in the input - end connecting rod of the robotic arm joint, and the second synchronous pulley, the harmonic reducer, the torque sensor 8, the joint output shaft 11, and the absolute encoder are respectively connected to the output - end connecting rod of the robotic arm joint.

[0098] As Figure 1 shown, the robotic arm joint can be divided into two parts, namely the left part and the right part; among them, the left part includes the motor 2, the brake 7, and the first synchronous pulley 4; the right part includes the second synchronous pulley, the housing of the harmonic reducer 3, the input shaft 12, and the output flange 13, as well as the torque sensor 8, the joint output shaft 11, and the reading head 9 and the detector 10 of the absolute encoder.

[0099] The right part belongs to the output part of the robotic arm joint and can be connected to the output end link of the robotic arm joint; the left part belongs to the input part of the robotic arm joint and can be directly embedded into the input end link of the robotic arm joint, so that the axial distance of the entire robotic arm joint is shorter, the cable is shorter, and it has the advantages of smaller volume, high integration, and complete functions.

[0100] Optionally, the input part and the output part are arranged in parallel with a certain interval therebetween, so that the motor 2 is arranged in parallel with the output part of the robotic arm joint. This not only helps to shorten the length of the joint axis, but also separates the motor 2 from other devices, and there is a large space around it, which is beneficial to the heat dissipation of the motor 2. In addition, the motor 2 and the brake 7 are arranged in parallel with the joint output part, and the motor 2 can be hidden in the link of the robotic arm joint, making the overall structure of the robotic arm joint more compact and effectively reducing the space volume occupied by the robotic arm joint.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm joint, characterized in that, It includes a motor, a synchronous pulley, a synchronous belt, a joint output shaft, a motor driver, a harmonic reducer, a brake, and a detection component; The detection component includes a torque sensor and an absolute encoder; Among them, the synchronous pulley includes a first synchronous pulley and a second synchronous pulley; The first synchronous pulley is fixedly connected to the shaft of the motor, and the brake is coaxially installed with the shaft of the motor; The rotation axes of the first synchronous pulley and the second synchronous pulley are parallel, and the synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley; The second synchronous pulley is fixedly connected to the harmonic reducer, the harmonic reducer is fixedly connected to the joint output shaft, and the harmonic reducer is fixedly connected to the torque sensor; The second synchronous pulley, the harmonic reducer, the motor driver, the torque sensor, and the absolute encoder are all hollow; The second synchronous pulley, the harmonic reducer, the motor driver, the torque sensor, and the absolute encoder are all coaxially installed with the joint output shaft; The motor driver is installed behind the second synchronous pulley, and at the same time the absolute encoder is installed behind the second synchronous pulley; The harmonic reducer includes an input shaft and an output flange; Among them, the input shaft and the output flange are both hollow and are both coaxially installed with the joint output shaft; The input shaft of the harmonic reducer is fixedly connected to the second synchronous pulley, and the output flange is fixedly connected to the joint output shaft; The motor is used to rotate under the control of the motor driver and drive the first synchronous pulley, the synchronous belt, the second synchronous pulley, and the input shaft and the output flange of the harmonic reducer to rotate.

2. The robotic arm joint according to claim 1, wherein The input side of the torque sensor is fixedly connected to the output flange of the harmonic reducer, and the output side of the torque sensor is fixedly connected to the output end link of the robotic arm joint; The torque sensor is used to detect the torque value transmitted between the input end link and the output end link of the robotic arm joint.

3. The robotic arm joint according to claim 1, characterized in that, The absolute encoder includes a reading head and a detector; The detector includes a magnetic grating or a grating; The detector and the reading head are both hollow; The detector and the reading head are both coaxially installed with the joint output shaft, and the detector is fixed on the joint output shaft; The absolute encoder is used to detect the rotation condition of the joint output shaft.

4. The robotic arm joint according to claim 1, characterized in that, The brake is coaxially installed with the motor; When the brake is in a power-off state, the brake is used to prevent the output shaft of the motor from rotating and prevent the synchronous pulley, the synchronous belt, and the harmonic reducer from rotating.

5. The robotic arm joint according to claim 1, wherein The joint output shaft is a hollow shaft; The cable of the robotic arm joint passes through the joint output shaft and is connected to the motor driver; The cable includes a power supply cable and a communication cable; The cable includes the cables of the torque sensor, the motor, the brake, and the absolute encoder in the robotic arm joint.

6. The robotic arm joint according to claim 1, characterized in that, It also includes a base; The stator of the motor, the housing of the brake, the housing of the harmonic reducer, the motor driver, and the reading head of the absolute encoder are all fixed on the base.

7. The robotic arm joint according to claim 1, characterized in that, The motor is a hollow shaft motor or a solid shaft motor.

8. The robotic arm joint according to claim 1, characterized in that The motor, the first synchronous pulley and the brake are embedded in the input end link of the robotic arm joint; The second synchronous pulley, the harmonic reducer, the torque sensor, the joint output shaft and the absolute encoder are respectively connected to the output end link of the robotic arm joint.

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