Mechanical arm joint
The invention relates to a mechanical arm joint which comprises a hollow shaft and a brake assembly, a motor assembly, a harmonic reducer assembly, an output assembly, a housing assembly, and a measurement assembly which are disposed outside the hollow shaft, the measurement assembly includes a torque sensor, and the torque sensor is provided inside the housing assembly and fixed to the housing assembly, the torque sensor is fixed to the harmonic reducer assembly at the same time. The torque sensor is provided in the joint, so as to ensure that the torque sensor is not damaged by external impacts during assembling and maintaining of the joint and the mechanical arm. The power cables and signal cables are connected to the circuit board at the right end of the joint from the side of the joint instead of through the joint center hole, so that the torque sensor cable and other cables in the joint are arranged separately, therefore the signal of the torque sensor does not interfere with the signal in other cables, and it is beneficial to the torque sensor signal transmission due to the length of cable is shorter, and the joint structure is more compact because of the diameter of joint center hole becomes smaller due to the number of the cables passed through the joint center hole decreases.
1. A mechanical arm joint, comprising:
a hollow shaft and a brake assembly, a motor assembly, a harmonic reducer assembly, an output assembly, a housing assembly, and a measurement assembly which are disposed outside the hollow shaft, the motor assembly including a motor shaft and an input shaft, the motor shaft fixed to the input shaft, the motor shaft and the input shaft supported in the housing assembly via one or more bearings, the brake assembly including a brake, a brake housing, and a rotor hub, the brake being fixed to the brake housing and the rotor hub being fixed to the motor shaft, the output assembly including an output flange fixed to one end of the hollow shaft, another end of the hollow shaft being supported in the brake housing via one or more second bearings,
wherein the measurement assembly includes a torque sensor, the torque sensor provided inside the housing assembly and fixed to the housing assembly, the torque sensor being fixed to the harmonic reducer assembly;
the harmonic reducer assembly including a wave generator, a flexible wheel, and a rigid wheel, the flexible wheel being fixed to the torque sensor through a flexible wheel mounting plate, wherein the torque sensor is connected to a circuit board via a power cable and a signal cable; and
a friction structure member disposed between the flexible wheel mounting plate and the torque sensor such that a mating surface of the flexible wheel and a mating surface of the torque sensor simultaneously press against the friction structure member via pressure therebetween.
2. The mechanical arm joint of claim 1 , wherein the motor assembly includes a motor housing, the motor shaft, the input shaft, a motor stator, and a motor rotor, the motor stator being fixed to the motor housing, the motor rotor being fixed to the motor shaft, and the motor shaft being fixed to the input shaft.
3. The mechanical arm joint of claim 1 , wherein the one or more second bearings is a roller bearing.
4. The mechanical arm joint of claim 1 , wherein the wave generator is fixed to the input shaft of the motor assembly, the flexible wheel is fixed to the torque sensor, and the rigid wheel is fixed to the output flange of the output assembly.
5. The mechanical arm joint of claim 1 , wherein the measuring assembly further includes a high-speed side encoder and a low-speed side encoder, the high-speed side encoder is configured to measure a speed of the motor, and the low-speed side encoder is configured to measure a position of the output flange.
6. The mechanical arm joint of claim 5 , wherein the high-speed side encoder includes a high-speed side reading head and a high-speed side magnetic ring, and wherein the position of the high-speed side reading head remains constant in relation to the housing assembly, and wherein the high-speed side magnetic ring moves synchronously with the motor shaft.
7. The mechanical arm joint of claim 6 , wherein the high-speed side encoder further includes a high-speed side reading head bracket fixed to the housing assembly, and wherein the high-speed side reading head bracket is fixed to the high-speed side reading head.
8. The mechanical arm joint of claim 5 , wherein the low-speed side encoder includes a low-speed side reading head and a low-speed side magnetic ring, and wherein the position of the low-speed side reading head remains constant in relation to the housing assembly, and wherein the position of the output flange of the output assembly remains constant in relation to the hollow shaft and the low-speed side magnetic ring, and wherein the output flange of the output assembly is configured to drive the hollow shaft and the low-speed side magnetic ring to move synchronously.
9. The mechanical arm joint of claim 8 , wherein the low-speed side encoder further includes a low-speed side reading head bracket and a hoop, and wherein the low-speed side magnetic ring and the hoop are fixed to the low-speed side reading head bracket respectively, and wherein the hoop is fixed to the hollow shaft.