CN110154080B - Joint driving module, seven-axis mechanical arm and robot - Google Patents
Joint driving module, seven-axis mechanical arm and robot Download PDFInfo
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- CN110154080B CN110154080B CN201910543764.8A CN201910543764A CN110154080B CN 110154080 B CN110154080 B CN 110154080B CN 201910543764 A CN201910543764 A CN 201910543764A CN 110154080 B CN110154080 B CN 110154080B
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- 238000004804 winding Methods 0.000 claims abstract description 66
- 238000007789 sealing Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 description 14
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a joint driving module, a seven-axis mechanical arm and a robot, wherein a first stator winding and a second stator winding are respectively arranged on the radial inner side and the radial outer side of a rotor winding of a motor rotor, and the driving motor adopts a double-winding motor, so that larger torque can be provided under the same size, and the joint driving module can achieve larger rotating speed and torque under the smaller size; namely, the first joint, the fifth joint and the seventh joint are set as rotating joints, the second joint, the third joint, the fourth joint and the sixth joint are set as swinging joints, and the arrangement mode can ensure enough arm expansion and coverage area of the robot, can avoid overlong size of a single arm pipe, particularly the size of the second to fifth mechanical arms, can flexibly realize various complex actions, thereby expanding flexible detection coverage area and improving application effect of the robot in a narrow space.
Description
Technical Field
The invention belongs to the field of mechanical arms, and particularly relates to a joint driving module, a seven-axis mechanical arm and a robot.
Background
The joint type robot is driven by motors with the same number as the degrees of freedom, and the cooperative type robot and the small compact type robot mostly adopt a mode of installing the motors at the corresponding joint positions, so that a transmission mechanism with a longer distance is omitted. The existing robot has the defects that the joint size is large, the arm rod is thick and straight, the robot is not flexible enough and is not suitable for the use requirement of a narrow space, and the functional parameters of the robot are difficult to improve.
At present, the joint of the cooperative robot and the small compact robot adopts a mode of matching a motor with a speed reducer as a joint driving module, and the driving module with higher part integration is also provided with an encoder, a driving circuit board, a torque sensor and the like. Because of carrying the speed reducer, the whole joint module is larger in size, so that the whole mechanical arm joint is larger in size and lower in joint rotating speed. If the module is not provided with a speed reducer, the torque of a common joint motor adopted by the module is insufficient. Namely, for the joint motor module in the prior art, under the condition of limiting the size, the moment and the rotating speed are inversely related, and the condition greatly influences the service performance of the robot; in the prior art, the 7-axis joint type robot has the advantages that the first joint, the third joint, the fifth joint and the seventh joint are all arranged to be rotary joints, the second joint, the fourth joint and the sixth joint are arranged to be swing joints, and the arrangement mode leads to longer big arm and small arm sizes of the robot.
In view of the above, it is necessary to provide a joint driving module, a seven-axis mechanical arm and a robot to solve the main technical problems in the prior art.
Disclosure of Invention
The invention provides a joint driving module, a seven-axis mechanical arm and a robot aiming at the technical problems so as to solve the technical problems.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the joint driving module comprises a first joint module and a second joint module, wherein the first joint module comprises a driving motor, and the driving motor comprises a motor rotor and a motor stator; the motor rotor comprises a rotor base, a rotor rotating shaft and a rotor winding, wherein the rotor rotating shaft and the rotor winding are coaxially arranged and fixedly connected with the rotor base respectively; the motor stator comprises a stator base and a stator winding, and the stator winding is fixedly connected with the stator base;
the rotor rotating shaft is sleeved at the center of the stator base and the second joint module; the rotor rotating shaft is rotationally connected with the stator frame, the rotor rotating shaft is fixedly connected with the second joint module, and the stator frame and the second joint module are arranged in a clearance way;
the stator winding comprises a first stator winding and a second stator winding, and the stator base is provided with an annular open cavity; the first stator winding, the second stator winding and the rotor winding are coaxially arranged in the annular open cavity; the first stator winding is arranged on the radial inner side of the rotor winding, the second stator winding is arranged on the radial outer side of the rotor winding, and the first stator winding and the second stator winding are arranged in clearance with the rotor winding.
Preferably, the first joint module further comprises an encoder for detecting and recording angle information and position information of the joint driving module, and the encoder is fixedly connected with the rotor rotating shaft and the stator base respectively; the second joint module comprises a joint module body and a joint driving controller, and the joint driving controller is arranged on the joint module body; the joint driving controller is electrically connected with the encoder to read the angle information and the position information of the joint driving module.
Preferably, the annular opening chamber comprises a first annular side wall and a second annular side wall, the first annular side wall and the second annular side wall are coaxially arranged with the rotor rotating shaft, and the first annular side wall is arranged on the radial inner side of the second annular side wall; the opening direction of the annular opening chamber is away from the second joint module, and the second annular side wall is arranged in a protruding manner relative to the first annular side wall at the opening of the annular opening chamber; the rotor base is arranged at one axial end of the rotor rotating shaft, which is away from the second joint module, and is opposite to the opening of the annular open cavity; the rotor rotating shaft is rotationally connected with the first annular side wall, and the rotor base is rotationally connected with the second annular side wall.
Preferably, the joint module body is provided with a central through hole, the rotor rotating shaft is coaxially arranged with the second joint module through the central through hole, and the rotor rotating shaft is a hollow rotating shaft.
Preferably, bearings are provided between the rotor shaft and the first annular side wall and between the rotor housing and the second annular side wall.
Preferably, a sealing cover is arranged at the opening of the annular opening cavity, and the sealing cover is fixedly connected with the second annular side wall.
The seven-axis mechanical arm comprises the joint driving module, and further comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm; the joint driving module is arranged between the base and the first mechanical arm, between the first mechanical arm and the second mechanical arm, between the second mechanical arm and the third mechanical arm, between the third mechanical arm and the fourth mechanical arm, between the fourth mechanical arm and the fifth mechanical arm, between the fifth mechanical arm and the sixth mechanical arm and at the end part of the sixth mechanical arm.
Preferably, the joint driving modules mounted between the base and the first arm, between the first arm and the second arm, between the second arm and the third arm, between the third arm and the fourth arm, between the fourth arm and the fifth arm, between the fifth arm and the sixth arm, and at the end of the sixth arm are defined as a first joint driving module, a second joint driving module, a third joint driving module, a fourth joint driving module, a fifth joint driving module, a sixth joint driving module, and a seventh joint driving module, respectively; when the central axes of the base, the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm and the sixth mechanical arm are parallel, the rotor shafts of the first joint driving module, the fifth joint driving module and the seventh joint driving module are arranged in parallel, the rotor shafts of the second joint driving module, the third joint driving module, the fourth joint driving module and the sixth joint driving module are arranged in parallel, and the rotor shafts of the first joint driving module, the fifth joint driving module and the seventh joint driving module are arranged perpendicular to the rotor shafts of the second joint driving module, the third joint driving module, the fourth joint driving module and the sixth joint driving module.
Preferably, the arm length ratio of the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm, and the sixth mechanical arm is 5:5:3:2:2.
a robot comprises the seven-axis mechanical arm.
The invention has the advantages and positive effects that:
1. according to the joint driving module, the seven-axis mechanical arm and the robot, the first stator winding and the second stator winding are respectively arranged on the radial inner side and the radial outer side of the rotor winding of the motor rotor, the driving motor adopts the double-winding motor, and larger moment can be provided under the same size, so that the joint driving module can achieve larger rotating speed and moment under the smaller size;
2. according to the joint driving module, the seven-axis mechanical arm and the robot, the rotor rotating shaft is set to be the hollow rotating shaft, and the first to sixth mechanical arms of the seven-axis mechanical arm use a hollow tubular structure, so that the load wire can realize internal wiring through the hollow rotating shaft and the hollow tube;
3. in the seven-axis robot arm and the robot according to the present invention, when the central axes of the base, the first robot arm, the second robot arm, the third robot arm, the fourth robot arm, the fifth robot arm, and the sixth robot arm are parallel (also referred to as a fully extended state), the rotor axes of the first joint driving module, the fifth joint driving module, and the seventh joint driving module are parallel, the rotor axes of the second joint driving module, the third joint driving module, the fourth joint driving module, and the sixth joint driving module are parallel, and the rotor axes of the first joint driving module, the fifth joint driving module, and the seventh joint driving module are perpendicular to the rotor axes of the second joint driving module, the third joint driving module, the fourth joint driving module, and the sixth joint driving module, namely, the first joint, the fifth joint and the seventh joint are set as rotating joints, the second joint, the third joint, the fourth joint and the sixth joint are set as swinging joints, and compared with the arrangement mode that in the prior art, the seven-axis joint type robot is provided with the first joint, the third joint, the fifth joint and the seventh joint as rotating joints and the second joint, the fourth joint and the sixth joint as swinging joints, the arrangement mode can ensure enough arm expansion and coverage of the robot, can avoid overlong single arm tube size, particularly the size of the second to fifth mechanical arms, can flexibly realize various complex actions, thereby expanding flexible detection coverage and improving the application effect of the robot in a narrow space.
Drawings
FIG. 1 is a schematic view of a joint driving module according to the present invention;
FIG. 2 is a cross-sectional view of a seven-axis mechanical arm according to the present invention;
FIG. 3 is a schematic structural view of the seven-axis mechanical arm in a fully extended state;
in the figure: 1. a first joint module; 111. a rotor base; 112. a rotor shaft; 113. a rotor winding; 121. a stator base; 1211. an annular open chamber; 1212. a first annular sidewall; 1213. a second annular sidewall; 122. a first stator winding; 123. a second stator winding; 13. an encoder; 14. a bearing; 2. a second joint module; 21. a joint module body; 22. a joint drive controller; 31. a base; 311. a first joint driving module; 32. a first mechanical arm; 321. a second joint driving module; 33. a second mechanical arm; 331. a third joint driving module; 34. a third mechanical arm; 341. a fourth joint driving module; 35. a fourth mechanical arm; 351. a fifth joint driving module; 36. a fifth mechanical arm; 361. a sixth joint driving module; 37. a sixth mechanical arm; 371. a seventh joint driving module; 38. a joint seal ring; 39. and a joint buckle cover.
Detailed Description
The present invention will be specifically described below by way of exemplary embodiments. It is to be understood that elements, structures, and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it should be noted that the circumferential direction of the object is circumferential, the radial direction is radial, and the axial direction of the rotating shaft is axial; the terms "inner," "outer," "upper," "lower," "front," "rear," and the like refer to an orientation or positional relationship based on the positional relationship shown in the drawings, for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
A joint driving module comprises a first joint module 1 and a second joint module 2, wherein the first joint module 1 comprises a driving motor, and the driving motor comprises a motor rotor and a motor stator; the motor rotor comprises a rotor base 111, a rotor rotating shaft 112 and a rotor winding 113, wherein the rotor rotating shaft 112 and the rotor winding 113 are coaxially arranged and are respectively fixedly connected with the rotor base 111; preferably, the rotor shaft 112 and the rotor base 111 are integrally formed; the motor stator comprises a stator base 121 and a stator winding, and the stator winding is fixedly connected with the stator base 121;
the rotor shaft 112 is sleeved at the center of the stator frame 121 and the second joint module 2; the rotor shaft 112 is rotatably connected with the stator frame 121, the rotor shaft 112 is fixedly connected with the second joint module 2, and the stator frame 121 and the second joint module 2 are arranged in a clearance manner;
the stator windings comprise a first stator winding 122 and a second stator winding 123, and the stator base 121 is provided with an annular opening cavity 1211; the first stator winding 122, the second stator winding 123, and the rotor winding 113 are coaxially disposed within the annular open chamber 1211; the first stator winding 122 is disposed radially inside the rotor winding 113, the second stator winding 123 is disposed radially outside the rotor winding 113, and the first stator winding 122 and the second stator winding 123 are disposed in a gap with the rotor winding 113.
According to the joint driving module, the first stator winding 122 and the second stator winding 123 are respectively arranged on the radial inner side and the radial outer side of the rotor winding 113 of the motor rotor, the driving motor adopts a double-winding motor, and larger moment can be provided under the same size, so that the joint driving module can achieve larger rotating speed and moment under the smaller size.
With continued reference to fig. 1, the first joint module 1 further includes an encoder 13 for detecting and recording angle information and position information of the joint driving module, where the encoder 13 is fixedly connected with the rotor shaft 112 and the stator frame 121, respectively; the second joint module 2 comprises a joint module body 21 and a joint driving controller 22, wherein the joint driving controller 22 is installed on the joint module body 21; the joint driving controller 22 is electrically connected with the encoder 13 to read the angle information and the position information of the joint driving module, and the joint driving module of the present invention includes a driving motor, the encoder 13 and the joint driving controller 22, and no speed reducer is provided to reduce the weight and the volume of the joint driving module.
Further, the annular open chamber 1211 includes a first annular sidewall 1212 and a second annular sidewall 1213, the first annular sidewall 1212 and the second annular sidewall 1213 are disposed coaxially with the rotor shaft 112 and the first annular sidewall 1212 is disposed radially inward of the second annular sidewall 1213; the opening direction of the annular opening chamber 1211 is away from the second joint module 2, and at the opening of the annular opening chamber, the second annular side wall 1213 is convexly arranged relative to the first annular side wall 1212; the rotor base 111 is disposed at one axial end of the rotor shaft 112 facing away from the second joint module 2, and is disposed opposite to the opening of the annular opening chamber 1211; the rotor shaft 112 is rotatably connected to the first annular sidewall 1212, and the rotor housing 111 is rotatably connected to the second annular sidewall 1213; preferably, bearings 14 are provided between the rotor shaft 112 and the first annular sidewall 1212 and between the rotor housing 111 and the second annular sidewall 1213, which can prevent rigid wear and position; preferably, a cover is mounted at an opening of the annular opening chamber 1211, and is fixedly connected to the second annular sidewall 1213, for preventing the motor rotor from being removed from the inside.
Further, the joint module body 21 is provided with a central through hole, the rotor shaft 112 is coaxially disposed with the second joint module 2 through the central through hole, and the rotor shaft 112 is a hollow shaft, and the hollow shaft is used for realizing internal wiring.
The seven-axis mechanical arm comprises the joint driving module, and further comprises a base 31, a first mechanical arm 32, a second mechanical arm 33, a third mechanical arm 34, a fourth mechanical arm 35, a fifth mechanical arm 36 and a sixth mechanical arm 37; the joint driving module is mounted between the base 31 and the first arm 32, between the first arm 32 and the second arm 33, between the second arm 33 and the third arm 34, between the third arm 34 and the fourth arm 35, between the fourth arm 35 and the fifth arm 36, between the fifth arm 36 and the sixth arm 37, and at the end of the sixth arm 37.
Further, the joint driving modules mounted between the base 31 and the first arm 32, between the first arm 32 and the second arm 33, between the second arm 33 and the third arm 34, between the third arm 34 and the fourth arm 35, between the fourth arm 35 and the fifth arm 36, between the fifth arm 36 and the sixth arm 37, and at the end of the sixth arm 37 are respectively defined as a first joint driving module 311, a second joint driving module 321, a third joint driving module 331, a fourth joint driving module 341, a fifth joint driving module 351, a sixth joint driving module 361, and a seventh joint driving module 371; wherein, the first joint driving module 311 to the seventh joint driving module 371 are only differentiated by size; when the central axes of the base 31, the first mechanical arm 32, the second mechanical arm 33, the third mechanical arm 34, the fourth mechanical arm 35, the fifth mechanical arm 36, and the sixth mechanical arm 37 are parallel (also referred to as a fully extended state), the rotor shafts 112 of the first joint driving module 311, the fifth joint driving module 351, and the seventh joint driving module 371 are parallel, the rotor shafts 112 of the second joint driving module 321, the third joint driving module 331, the fourth joint driving module 341, and the sixth joint driving module 361 are parallel, and the rotor shafts 112 of the first joint driving module 311, the fifth joint driving module 351, and the seventh joint driving module 371 are perpendicular to the rotor shafts 112 of the second joint driving module 321, the third joint driving module 331, the fourth joint driving module 341, and the sixth joint driving module 361; further, the position of the first joint driving module 311 is a first joint of the seven-axis mechanical arm, and the corresponding rotation plane is a first joint rotation plane a; the second joint driving module 321 is located at a second joint of the seven-axis mechanical arm, and the corresponding rotation plane thereof is a second joint rotation plane B; … …; and so on, the position of the seventh joint driving module 371 is a seventh joint of the seven-axis mechanical arm, and the corresponding rotation plane is a seventh joint rotation plane G; the rotor axis of rotation 112 of each joint is perpendicular to its respective plane of rotation; namely, the first joint, the fifth joint and the seventh joint are set as rotating joints, and the second joint, the third joint, the fourth joint and the sixth joint are set as swinging joints; for further explanation, referring to fig. 3, when the seven-axis mechanical arm is in the fully extended state, the positional relationship of the rotation planes; compared with the seven-axis joint type robot in the prior art, the seven-axis joint type robot has the advantages that the first joint, the third joint, the fifth joint and the seventh joint are all arranged to be rotation joints, and the second joint, the fourth joint and the sixth joint are arranged to be swing joints.
Further, according to the arrangement mode, 7 degrees of freedom in the kinematic inverse solution and the dynamic inverse solution of the seven-axis mechanical arm can be changed into 6 degrees of freedom in a mode that the angle parameter is independently set for the third joint, so that countless results of the 7-degree-of-freedom mechanical arm are avoided, each movement path of each joint of the seven-axis mechanical arm is different when the seven-axis mechanical arm repeatedly moves in the same point-to-point mode under a Cartesian coordinate system, and therefore solving difficulty is effectively reduced, and the consistency of paths of each joint in multiple movements when the seven-axis mechanical arm repeatedly moves is improved.
Further, the arm length ratio of the second arm 33, the third arm 34, the fourth arm 35, the fifth arm 36, and the sixth arm 37 is 5:5:3:2:2; the size arrangement mode with similar proportion ensures enough arm spreading and coverage area of the robot, can avoid overlong size of a single arm pipe, and can flexibly realize various complex actions, thereby expanding flexible detection coverage area and improving application effect of the robot in a narrow space. As described above, the robot can achieve the beneficial effects by independently changing the arrangement mode of the mechanical arm joints and independently changing the length proportion of the mechanical arm, and meanwhile, better beneficial effects can be achieved by changing the two modes.
Preferably, the outline of each mechanical arm is an arc cylinder, so that the size and the weight are reduced on the premise of ensuring the rigidity of the mechanism. The joints of the mechanical arms and the joint driving modules adopt arc smooth transition, so that the structural strength is improved. As shown in fig. 2, each mechanical arm adopts a hollow structure, and each driving joint module connecting wire is routed through the inside of an arm pipe to provide a power supply and a signal transmission line for the whole robot, and part of cables of external loads can be routed inside the mechanical arm, so that the mechanical arm has great help in improving the use flexibility and expanding the use scene of the mechanical arm; preferably, the hollow tubular structure is made of a light and tough composite material or a carbon fiber material; the joint sealing ring 38 is used for realizing the waterproof and dustproof effects of the butt joint gap at the butt joint position of the mechanical arms, and the joint buckling cover 39 is buckled on the outer side of the joint sealing ring, so that the primary protection and attractive effects are achieved.
Preferably, the main controller of the seven-axis mechanical arm is developed in an embedded manner, so that the structure is compact, the main controller is installed in the base 31, the integration of the main controller and the body structure of the seven-axis mechanical arm is realized, the whole machine is lighter, and the efficiency and the reliability of control communication are improved.
A robot comprises the seven-axis mechanical arm.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; it will be appreciated by those skilled in the art that changes may be made to the embodiments described above, or equivalents may be substituted for elements thereof; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a joint drive module, includes first joint module and second joint module, its characterized in that: the first joint module comprises a driving motor, and the driving motor comprises a motor rotor and a motor stator; the motor rotor comprises a rotor base, a rotor rotating shaft and a rotor winding, wherein the rotor rotating shaft and the rotor winding are coaxially arranged and fixedly connected with the rotor base respectively; the motor stator comprises a stator base and a stator winding, and the stator winding is fixedly connected with the stator base;
the first joint module further comprises an encoder for detecting and recording angle information and position information of the joint driving module, and the encoder is fixedly connected with the rotor rotating shaft and the stator base respectively; the second joint module comprises a joint module body and a joint driving controller, and the joint driving controller is arranged on the joint module body; the joint driving controller is electrically connected with the encoder to read the angle information and the position information of the joint driving module;
the rotor rotating shaft is sleeved at the center of the stator base and the second joint module; the rotor rotating shaft is rotationally connected with the stator frame, the rotor rotating shaft is fixedly connected with the second joint module, and the stator frame and the second joint module are arranged in a clearance way;
the stator winding comprises a first stator winding and a second stator winding, and the stator base is provided with an annular open cavity; the first stator winding, the second stator winding and the rotor winding are coaxially arranged in the annular open cavity; the first stator winding is arranged on the radial inner side of the rotor winding, the second stator winding is arranged on the radial outer side of the rotor winding, and the first stator winding and the second stator winding are arranged in a clearance with the rotor winding;
the annular opening cavity comprises a first annular side wall and a second annular side wall, the first annular side wall and the second annular side wall are coaxially arranged with the rotor rotating shaft, and the first annular side wall is arranged on the radial inner side of the second annular side wall; the opening direction of the annular opening cavity is away from the second joint module, and the second annular side wall is arranged in a protruding manner relative to the first annular side wall at the opening of the annular opening cavity; the rotor base is arranged at one axial end of the rotor rotating shaft, which is away from the second joint module, and is opposite to the opening of the annular open cavity; the rotor rotating shaft is rotationally connected with the first annular side wall, and the rotor base is rotationally connected with the second annular side wall.
2. The joint driving module according to claim 1, wherein: the joint module body is provided with a central through hole, the rotor rotating shaft is coaxially arranged with the second joint module through the central through hole, and the rotor rotating shaft is a hollow rotating shaft.
3. The joint driving module according to claim 1, wherein: bearings are arranged between the rotor rotating shaft and the first annular side wall and between the rotor base and the second annular side wall.
4. The joint driving module according to claim 1, wherein: and a sealing cover is arranged at the opening of the annular opening cavity and fixedly connected with the second annular side wall.
5. A seven-axis mechanical arm which is characterized in that: comprising the joint driving module according to any one of claims 1 to 4, further comprising a base, a first robot arm, a second robot arm, a third robot arm, a fourth robot arm, a fifth robot arm, and a sixth robot arm; the joint driving module is arranged between the base and the first mechanical arm, between the first mechanical arm and the second mechanical arm, between the second mechanical arm and the third mechanical arm, between the third mechanical arm and the fourth mechanical arm, between the fourth mechanical arm and the fifth mechanical arm, between the fifth mechanical arm and the sixth mechanical arm and at the end part of the sixth mechanical arm.
6. The seven-axis mechanical arm of claim 5, wherein: defining the joint driving modules installed between the base and the first mechanical arm, between the first mechanical arm and the second mechanical arm, between the second mechanical arm and the third mechanical arm, between the third mechanical arm and the fourth mechanical arm, between the fourth mechanical arm and the fifth mechanical arm, between the fifth mechanical arm and the sixth mechanical arm and at the end of the sixth mechanical arm as a first joint driving module, a second joint driving module, a third joint driving module, a fourth joint driving module, a fifth joint driving module, a sixth joint driving module and a seventh joint driving module; when the central axes of the base, the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm and the sixth mechanical arm are parallel, the rotor shafts of the first joint driving module, the fifth joint driving module and the seventh joint driving module are arranged in parallel, the rotor shafts of the second joint driving module, the third joint driving module, the fourth joint driving module and the sixth joint driving module are arranged in parallel, and the rotor shafts of the first joint driving module, the fifth joint driving module and the seventh joint driving module are arranged perpendicular to the rotor shafts of the second joint driving module, the third joint driving module, the fourth joint driving module and the sixth joint driving module.
7. The seven-axis mechanical arm of claim 5, wherein: the arm length ratio of the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm and the sixth mechanical arm is 5:5:3:2:2.
8. a robot, characterized in that: comprising a seven-axis mechanical arm according to any of claims 5 to 7.
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| CN201910543764.8A CN110154080B (en) | 2019-06-21 | 2019-06-21 | Joint driving module, seven-axis mechanical arm and robot |
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| CN201910543764.8A CN110154080B (en) | 2019-06-21 | 2019-06-21 | Joint driving module, seven-axis mechanical arm and robot |
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| CN110154080B true CN110154080B (en) | 2024-02-13 |
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| CN111673717B (en) * | 2020-06-16 | 2022-07-05 | 东莞市摩克电子科技有限公司 | Simulation multi-arm manipulator |
| CN114393594B (en) * | 2022-01-28 | 2023-11-24 | 苏州灵猴机器人有限公司 | Robot |
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| AU2003244198A1 (en) * | 2002-07-10 | 2004-02-02 | Nikon Corporation | Motor, robot, substrate loader and exposure system |
| KR100760846B1 (en) * | 2006-09-04 | 2007-09-21 | 한국과학기술연구원 | Device for generating stiffness and joint of robot manipulator comprising the same |
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| WO2015024818A1 (en) * | 2013-08-20 | 2015-02-26 | Kuka Roboter Gmbh | Industrial robot having at least one drive |
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