US 12,246,445 B2
Mechanical arm joint
Zhaopeng Chen, Beijing (CN); Xuebin Su, Beijing (CN); Yuechao Zaho, Beijing (CN); Qian Wang, Beijing (CN); and Georg Stillfried, Munich (DE)
Assigned to Agile Robots SE, Munich (DE); and Beijing Siling Robot Technology Co., Ltd., Beijing (CN)
Appl. No. 17/780,606
Filed by AGILE ROBOTS SE, Munich (DE); and Beijing Siling Robot Technology Co., Ltd., Beijing (CN)
PCT Filed Nov. 17, 2020, PCT No. PCT/EP2020/082431
§ 371(c)(1), (2) Date May 27, 2022,
PCT Pub. No. WO2021/104948, PCT Pub. Date Jun. 3, 2021.
Prior Publication US 2023/0356416 A1, Nov. 9, 2023
Int. Cl. B25J 9/10 (2006.01); B25J 13/08 (2006.01); B25J 17/00 (2006.01)
CPC B25J 9/1025 (2013.01) [B25J 13/085 (2013.01); B25J 17/00 (2013.01)] 9 Claims
OG exemplary drawing
 
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.