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一种中空式智能模块化关节
Alternative TitleIntelligent modular hollow joint
韩建达; 赵忆文; 赵新刚; 孙维; 陈晨; 于海斌
Department机器人学研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明属于机器人技术领域,具体地说是一种中空式智能模块化关节。包括电机、制动器、增量式编码器、谐波减速器、绝对编码器、力矩传感器、中空走线管及末端输出轴,其中制动器和增量式编码器设置于所述电机的电机后端盖上并分别通过传动装置与电机输出轴的后端传动连接,所述电机输出轴的前端与谐波减速器连接,所述谐波减速器与末端输出轴的一端连接,所述末端输出轴的另一端与力矩传感器连接,所述绝对编码器安装于末端输出轴上;所述电机输出轴和末端输出轴均为中空结构,所述中空走线管依次穿过末端输出轴、谐波减速器及电机输出轴,中空走线管的一端与电机后端盖连接,另一端与末端输出轴转动连接。本发明按照模块化设计,应用于机器人关节,且各组成部分均具有可替换性,方便进行改造。
Other AbstractThe invention belongs to the technical field of robots and particularly relates to an intelligent modular hollow joint. The intelligent modular hollow joint comprises a motor, a brake, an incremental encoder, a harmonic reducer, an absolute encoder, a torque sensor, a hollow wiring tube and a tail-end output shaft. The brake and the incremental encoder are arranged on a rear end cover of the motor and in transmission connection with the rear end of a motor output shaft through a transmission device, the front end of the motor output shaft is connected with the harmonic reducer which is connected with one end of the tail-end output shaft, the outer end of the tail-end output shaft is connected with the torque sensor, and the absolute encoder is mounted on the tail-end output shaft. The motor output shaft and the tail-end output shaft are both in hollow structures, the hollow wiring tube sequentially penetrates through the tail-end output shaft, the harmonic reducer and the motor output shaft, and one end of the hollow wiring tube is connected with the rear end cover of the motor while the other end of the hollow wiring tube is rotatably connected with the tail-end output shaft. The intelligent modular hollow joint in modular design is applicable to robot joints, and all parts of the intelligent modular hollow joint are replaceable to make it convenient for modification.
PCT Attributes
Application Date2013-09-03
2015-03-18
Date Available2016-08-17
Application NumberCN201310397792.6
Open (Notice) NumberCN104416579A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/16007
Collection机器人学研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
韩建达,赵忆文,赵新刚,等. 一种中空式智能模块化关节[P]. 2015-03-18.
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