Joint driving device, joint robot with driving device and driving method

• Main Authors: HONG LIANG, DENG SHAOFENG, ZHANG KAI, JIAO MINGJIE, CHEN MANLIN, LIAN ZHIJUN, WANG PINGJIANG
• Format: Patent
• Language: Chinese; English
• Published: 27.03.2020
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a joint driving device, a joint robot with the driving device and a driving method. According to the joint driving device, the joint robot with the driving device and the driving method, the driving force, the stability and the precision of driving by a control shaft and a robot joint shaft are greatly improved, and the actual requirements of the work of a robot are met. Thejoint driving device comprises a packaging shell and the control shaft, wherein the control shaft is arranged in the packaging shell in a penetrating mode; and the joint driving device is characterized by further comprising an eccentric wheel disc and rotary angle speed driving members, wherein the eccentric wheel disc is fixedly arranged on the control shaft and located in the packaging shell, and the rotary angle speed driving members are arranged around the control shaft in a star shape and connected with the eccentric wheel disc and used for driving the eccentric wheel disc to do rotary motion around the axis of