Robot joint and robot having the same
AssigneeUbtech Robotics Corp Ltd
InventorsJian Li, Hongyu Ding, Youpeng Li, Jianxin Pang, Youjun Xiong
Life of this patent
Estimating the term…
Abstract
A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.
Claims13
A robot joint comprising:
- a casing;
- a motor assembly comprising a stator and a rotor that are arranged within the casing, the rotor being arranged around and rotatable with respect to the stator;
- a harmonic drive received, at least in part, in the rotor, the harmonic drive comprising a circular spline, a wave generator fixed to the rotor, and a flex spline, the circular spline being arranged around and engaged with the flex spline, the wave generator being received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline;
- and
- an output shaft fixed to the flex spline.
A robot comprising a robot joint, the robot joint comprising:
- a casing;
- a motor assembly comprising a stator and a rotor that are arranged within the casing, the rotor being arranged around and rotatable with respect to the stator;
- a harmonic drive received, at least in part, in the rotor, the harmonic drive comprising a circular spline, a wave generator fixed to the rotor, and a flex spline, the circular spline being arranged around and engaged with the flex spline, the wave generator being received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline;
- and
- an output shaft fixed to the flex spline.
Dependencies are inferred from the claim text.