Joint module for robots and joint system for robots equipped with the same

Modular joint module with improved load imbalance by positioning the drive unit at the center of the housing connection

This technology is a modular joint mechanism that improves load imbalance during rotation by placing the drive unit between the first and second housings that support a pair of links, respectively, and positioning the center of the drive unit at the housing connection. It transmits power from the rotation axis to the second housing and supports axial external forces through a motor housing, connecting shaft, and bearing configuration.

Existing robot joints often suffer from structural weight imbalances, such as drive units (motors) protruding to the side of the link or the use of bevel gears. These issues lead to increased joint size, backlash, reduced operational precision, and higher design and manufacturing costs.

This technology optimizes weight balance by arranging the first and second housings to be rotatable relative to each other and positioning the center of the drive unit at the connection between the two housings. Furthermore, by applying a combination of a motor housing, connecting shaft, ball bearings, and thrust bearings, it achieves precise control of the drive unit and supports external loads. It can be applied to collaborative robots, industrial robots, and modular manipulators, reducing backlash while enhancing operational precision and design efficiency.

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Key Features:

• A drive unit where one end is positioned inside the first housing, the other end, where the rotation axis is rotatably disposed, is positioned inside the second housing, and which rotates the second housing relative to the first housing when the rotation axis rotates.
• A second housing coupled to the other of the pair of links and configured to be rotatable relative to the first housing.
• A robot joint module where the central portion of the drive unit is positioned at the connection between the first housing and the second housing.
• A first housing coupled to one of the pair of links that form the joint portion of the robot.

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This invention was developed with support from the Ministry of Knowledge Economy for the development of 2/3 DOF mechanisms for shoulders and wrists.