Double-motor and double-speed-reducer robot joint structure capable of adjusting tail end backlash

Abstract

The invention discloses a double-motor double-speed-reducer robot joint structure capable of adjusting a tail end backlash, which comprises a fixed part and a rotating part, and the fixed part and the rotating part realize rotation and power transmission of a robot joint through a pivotal bearing. The fixed part comprises a base and an output gear; the rotating component comprises a rotating base assembly and two input unit assemblies. The input unit assembly comprises a servo motor, a motor gear, a motor mounting cylinder, a speed reducer, a speed reducer mounting cylinder and an input gear; the servo motor is fixed on the speed reducer through a motor mounting cylinder and drives the speed reducer to rotate through a motor gear; the input gear is fixedly connected to an output shaft of the speed reducer and is in meshed connection with the output gear. On the premise that the same output torque is guaranteed, the cost can be greatly reduced, and meanwhile the use precision requirement of the robot can be guaranteed; and the size of the backlash between the gears can be controlled according to the required precision, so that the transmission precision is effectively controlled.

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