CN108818612A - Electromechanical integration passive compliance controls joint of robot - Google Patents
Electromechanical integration passive compliance controls joint of robot Download PDFInfo
- Publication number
- CN108818612A CN108818612A CN201811024005.2A CN201811024005A CN108818612A CN 108818612 A CN108818612 A CN 108818612A CN 201811024005 A CN201811024005 A CN 201811024005A CN 108818612 A CN108818612 A CN 108818612A
- Authority
- CN
- China
- Prior art keywords
- motor
- robot
- sensor
- shell body
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of electromechanical integration passive compliances to control joint of robot, belongs to robotic technology field.Including drive system, sensor-based system, connection transmission system.Device, motor and harmonic speed reducer composition is driven by motor in the drive system；The sensor-based system is made of angular displacement sensor, the motor encoder of measurement elastomer deformation；The elastic bodies of revolution is made of inner ring, outer ring, Flexible element；The rotary magneto-rheological damper is made of shell, non-magnetic washer, magnetic conduction washer, coil, damping fin, input shaft, output shaft and attenuator end cap.The highly integrated elastomer of the present invention and MR damper physics flexibility, joint of robot is small in size, light-weight, not only has good interactivity and safety between environment, can also bear external impact and disturbance, it is installed and used convenient for all kinds of robots, versatility and practicability are stronger.
Description
Technical field
The present invention relates to robotic technology fields, are related to a kind of in parallel with rotary magneto-rheological damper using elastic bodies of revolution
Made of electromechanical integration passive compliance control joint of robot.
Background technique
As human society develops to increasingly automated, information-based and mechanization direction, shadow of the robot to human lives
Sound is deeper and deeper, and robot is generally divided into industrial robot and service robot two major classes because of the difference of its purposes, either
Industrial robot or service trade robot, submissive, safe man-machine interaction are particularly important.
Robot Design still uses the rigid design of " motor+retarder+load " at present, they by be mounted on joint or
The force snesor of executor tail end perceives the contact information of environment.This kind of mechanical arm although certain flexibility may be implemented,
But damage is all be easy to cause to mechanical arm motor itself and environment when by external impact due to lacking physics compliant component.
In view of the raising of robot interactive, in recent years, the design of more and more experts and scholars' concern flexible joints, and bullet of connecting
Property driver as a kind of novel joint driver, more application, but most applications have been obtained in robot field
The disadvantages of joint of robot flexible finite, impact resistance be poor, response lag, while some product structure sizes are big, close
Section is difficult to meet people's normal demand from weight height.Some series elastic drivers are non-linear by gravity, friction and damping etc.
The influence of factor leads to the accuracy and robustness decline of control, both at home and abroad common series elastic driver speed control side
Method does not combine the design feature of series elastic driver itself, significantly limits series elastic driver application scenarios.
Summary of the invention
The purpose of the present invention is to provide a kind of electromechanical integration passive compliances to control joint of robot, solves existing skill
The above problem existing for art.Degree of the present invention integrates that high, compact-sized, low weight, flexibility are high, damping is adjustable.
Above-mentioned purpose of the invention is achieved through the following technical solutions：
Electromechanical integration passive compliance controls joint of robot, including drive system, sensor-based system, connection transmission system, described
Drive system includes motor driver 1, motor 2 and harmonic speed reducer 3, and the sensor-based system includes first angle sensor 4, electricity
Machine encoder 5, second angle sensor 6, the connection transmission system include output flange 7, left side articular shell body 8, the right side
Lateral joint outer housing 9, rotary magneto-rheological damper 10, elastic bodies of revolution 11, the first mounting flange 12, the second mounting flange
13,15 second cylinder roller bearing 16 of the first cylinder roller bearing；
The output flange 7 is fixedly connected with left side articular shell body 8, and rotary magneto-rheological damper 10 is set to left side joint
Inside outer housing 8, and it is connect with output flange 7, meanwhile, 10 other end of rotary magneto-rheological damper and the first connecting flange
Disk 12 is fixedly connected, and first mounting flange 12 is connect with elastic bodies of revolution 11；First angle sensor 4 is mounted on first
Between mounting flange 12 and elastic bodies of revolution 11, the elastic bodies of revolution 11 is connect with the second mounting flange 13, and described
Two mounting flanges, 13 inner ring is connect with the flexbile gear 3-2 of harmonic speed reducer 3, and second angle sensor 6 is mounted on the second connection method
Between blue disk 13 and elastic bodies of revolution 11；The motor center axis of motor 2 is fixed on rotor, and motor center axis left end is fixed
It is arranged on the wave producer 3-3 of harmonic speed reducer 3, the harmonic speed reducer 3 is fixedly mounted on electric machine casing by firm gear 3-1
On, the motor encoder rotor 5-2 of motor center axis right end and motor encoder 5 is fixed to be set with, the motor encoder rotor
5-2 is matched with motor encoder stator 5-3, and the motor encoder stator 5-3 is fixed on motor encoder support 5-1,
The motor encoder support 5-1 is fixedly mounted on electric machine casing；Motor driver 1 is fixed at right side articular shell body
On 9, the right side articular shell body 9 is fixedly connected with joint right end cap 14.
The elastic bodies of revolution 11 is made of inner ring 11-1, outer ring 11-2, Flexible element 11-3；The inner ring 11-1 with
Outer ring 11-2 is concentric, and the Flexible element 11-3 is fixed between inner ring 11-1 and outer ring 11-2；Three groups of Flexible elements along
The even circumferential of inner ring 11-1 is distributed, and the inner ring 11-1 is connect with the first mounting flange 12, the outer ring 11-2 and second
Mounting flange 13 connects.
The Flexible element 11-3 is that stacking is circular.
The rotary magneto-rheological damper 10 is by shell body 10-1, non-magnetic washer 10-2, magnetic conduction washer 10-
3, coil 10-4, damping fin 10-5, input shaft 10-6, output shaft 10-7 and attenuator end cap 10-8 composition, the damper end
Lid 10-8 is mounted on shell body 10-1, and the damping fin 10-5 is fixed on input shaft 10-6, the coil 10-4
The two sides damping fin 10-5 are mounted on magnetic conduction washer 10-3；The output shaft 10-7 is connect with output flange 7, input shaft 10-6
It is fixedly connected with the first mounting flange 12；The non-magnetic washer 10-2 is arranged on the inner wall of shell body 10-1；
The magnetic loop of the magnetic rheological liquid damper 10 is successively by shell body 10-1, coil 10-4, magnetic conduction washer 10-3, magnetic current
Become liquid, damping fin 10-5, magnetorheological fluid, magnetic conduction washer 10-3, coil 10-4, shell body 10-1 to be formed.
The first angle sensor includes first angle rotor sensor 4-1 and first angle sensor stator 4-2,
The first angle rotor sensor 4-1 is connect with the inner ring 11-1 of elastic bodies of revolution 11, first angle sensor stator 4-2 with
Left side articular shell body 8 is fixedly connected；First cylinder roller bearing 15 is mounted on first angle rotor sensor 4-1；It is described
Second angle sensor 6 include second angle rotor sensor 6-1 and second angle sensor stator 6-2, described second jiao
Degree rotor sensor 6-1 is connect with the outer ring 11-2 of elastic bodies of revolution 11, and second angle sensor stator 6-2 and second angle pass
Sensor rotor 6-1 is cooperatively connected, and the second cylinder roller bearing 16 is mounted on second angle rotor sensor 6-1.
First cylinder roller bearing 15 and the second cylinder roller bearing 16 passes through the upper axis of motor center axis respectively
Shoulder carries out axially position.
The rotary magneto-rheological damper 10 is connected in parallel by the first connecting flange 12 with elastic bodies of revolution 11.
The rotary magneto-rheological damper 10 is external double barrels type structure.
The joint right end cap 14 is equipped with COM serial line interface 14-1 and joint power supply line delivery outlet 14-2.
The beneficial effects of the present invention are：Compared with existing series connection elastic robot joint, the present invention can obtain with
Lower technical effect：
1, highly integrated integrated design.In view of the limitation in robot space and weight, joint of robot is using integrated
Driving motor, retarder, sensor, torsionspring and magnetorheological rotary damper are all integrated in robot and closed by design philosophy
Section is internal, facilitates to improve the design such as the miniaturization, lightweight and high power density in joint in this way.
2, modularized design.The modularized joint for integrating driving, transmission, sensing and communication, by modularized design,
It is conveniently applied in multi-joint mechanical arm, the exploitation that effectively shortens designs and the process-cycle, and the mounting hole uniformity of intermodule
Also contribute to the maintenance and debugging of system.
3, multisensor perceives.Using measurement elastomer deformation angular transducer and motor encoder sensing detection,
Greatly improve the control accuracy and level of operation in joint.
4, the present invention makes full use of elastic bodies of revolution architectural characteristic, in conjunction with the other response characteristic of magnetorheological fluid Millisecond, leads to
It crosses adjustment MR damper supply current and changes damping size, it is ensured that joint of robot rapid reaction flexibility is high and damping can
It adjusts.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative example and its explanation is used to explain the present invention, and is not constituted improper limitations of the present invention.
Fig. 1 is overall structure schematic cross-sectional view of the invention；
Fig. 2 is overall structure isometric view schematic diagram of the invention；
Fig. 3 is the schematic view of the front view of elastic bodies of revolution of the invention；
Fig. 4 is the isometric view up and down of elastic bodies of revolution of the invention；
Fig. 5 is rotary magneto-rheological damper structure isometric view of the invention.
In figure：1, motor driver；2, motor；3, harmonic speed reducer；4, first angle sensor；5, motor encoder；
6, second angle sensor；7, output flange；8, left side articular shell body；9, right side articular shell body；10, magnetic current is rotated
Variable damping device；11, elastic bodies of revolution；12, the first mounting flange；13, the second mounting flange；14, joint right end cap；15,
First cylinder roller bearing；16, the second cylinder roller bearing；3-1, firm gear；3-2, flexbile gear；3-3, wave producer；4-1, first
Angular transducer rotor；4-2 first angle sensor stator；5-1, motor encoder support；5-2, motor encoder rotor；5-
3, motor encoder stator；6-1, second angle rotor sensor；6-2 second angle sensor stator；10-1, shell
Body；10-2, non-magnetic washer；10-3, magnetic conduction washer；10-4, coil；10-5, damping fin；10-6, input shaft；10-7, output
Axis；10-8 attenuator end cap；11-1, inner ring；11-2, outer ring；11-3, Flexible element；14-1, COM serial line interface；14-2, pass
Save power supply line delivery outlet.
Specific embodiment
Detailed content and its specific embodiment of the invention are further illustrated with reference to the accompanying drawing.
Referring to figs. 1 to 5, electromechanical integration passive compliance of the invention controls joint of robot, including driving system
System, sensor-based system, connection transmission system.Device, motor and harmonic speed reducer composition is driven by motor in the drive system；The biography
Sensing system is made of angular transducer, motor encoder；The elastic bodies of revolution is made of inner ring, outer ring, Flexible element；It is described
Rotary magneto-rheological damper is by shell, non-magnetic washer, magnetic conduction washer, coil, damping fin, input shaft, output shaft and end cap group
At.The highly integrated elastomer of the present invention and MR damper physics flexibility, joint of robot is small in size, light-weight, not only
There is good interactivity and safety between environment, external impact and disturbance can also be born, pacify convenient for all kinds of robots
Dress uses, and versatility and practicability are stronger.
Referring to shown in Fig. 1 and Fig. 2, electromechanical integration passive compliance of the invention controls joint of robot, including driving system
System, sensor-based system, connection transmission system, it is described
Drive system includes motor driver 1, motor 2 and harmonic speed reducer 3, and the servo motor includes rotor, motor
Stator, motor center axis and electric machine casing, the harmonic speed reducer 3 include firm gear 3-1, flexbile gear 3-2 and wave producer 3-3；Institute
Stating sensor-based system includes first angle sensor 4, motor encoder 5, second angle sensor 6, the motor encoder
Including motor encoder support 5-1, motor encoder rotor 5-2 and motor encoder stator 5-3；The connection transmission system packet
Include output flange 7, left side articular shell body 8, right side articular shell body 9, rotary magneto-rheological damper 10, elastic bodies of revolution
11, the first mounting flange 12, the second mounting flange 13,15 second cylinder roller bearing 16 of the first cylinder roller bearing；
The output flange 7 is fixedly connected with left side articular shell body 8, and rotary magneto-rheological damper 10 is set to left side joint
Inside outer housing 8, and it is connect with output flange 7, meanwhile, 10 other end of rotary magneto-rheological damper and the first connecting flange
Disk 12 is fixedly connected, and first mounting flange 12 is connect with elastic bodies of revolution 11；First angle sensor 4 is mounted on first
Between mounting flange 12 and elastic bodies of revolution 11, the elastic bodies of revolution 11 is connect with the second mounting flange 13, and described
Two mounting flanges, 13 inner ring is connect with the flexbile gear 3-2 of harmonic speed reducer 3, and second angle sensor 6 is mounted on the second connection method
Between blue disk 13 and elastic bodies of revolution 11；The motor center axis of motor 2 is fixed on rotor, and motor center axis left end is fixed
It is arranged on the wave producer 3-3 of harmonic speed reducer 3, harmonic speed reducer 3 is fixedly mounted on electric machine casing by firm gear 3-1,
The motor encoder rotor 5-2 of motor center axis right end and motor encoder 5 is fixed to be set with, the motor encoder rotor 5-2
It is matched with motor encoder stator 5-3, the motor encoder stator 5-3 is fixed on motor encoder support 5-1, described
Motor encoder support 5-1 is fixedly mounted on electric machine casing；Motor driver 1 is fixed on right side articular shell body 9,
The right side articular shell body 9 is fixedly connected with joint right end cap 14.
Referring to shown in Fig. 3 and Fig. 4, elastic bodies of revolution 11 of the present invention is by inner ring 11-1, outer ring 11-2, Flexible element
11-3 composition；The inner ring 11-1 and outer ring 11-2 are concentric, and the Flexible element 11-3 is fixed on inner ring 11-1 and outer ring 11-
Between 2；Three groups of Flexible elements are distributed along the even circumferential of inner ring 11-1, and the inner ring 11-1 and the first mounting flange 12 connect
It connects, the outer ring 11-2 is connect with 13 outer ring of the second mounting flange, and elastic bodies of revolution 11 can effectively improve joint of robot
Flexibility, while elastic bodies of revolution 11 is used as mechanical filter, and the suffered impact of load can be absorbed.When frequency of impact is greater than machine
When device person joint's frequency, system impedance be will drop to as the rigidity of elastic bodies of revolution 11.
The Flexible element 11-3 is that stacking is circular.
Shown in Figure 5, rotary magneto-rheological damper 10 of the present invention is external double barrels type structure, is rotated magnetorheological
Damper 10 is connected in parallel by the first connecting flange 12 with elastic bodies of revolution 11.The rotary magneto-rheological damper 10 is by hindering
It is Buddhist nun's device outer housing 10-1, non-magnetic washer 10-2, magnetic conduction washer 10-3, coil 10-4, damping fin 10-5, input shaft 10-6, defeated
Shaft 10-7 and attenuator end cap 10-8 composition, the attenuator end cap 10-8 is mounted on shell body 10-1, described
Damping fin 10-5 is fixed on input shaft 10-6, and the coil 10-4 and magnetic conduction washer 10-3 are mounted on the two sides damping fin 10-5；
The output shaft 10-7 is connect with output flange 7, and input shaft 10-6 is fixedly connected with the first mounting flange 12；It is described non-to lead
Magnetic washer 10-2 is arranged on the inner wall of shell body 10-1.The magnetic rheological liquid damper 10 forms shell
Body 10-1- coil 10-4- magnetic conduction washer 10-3- magnetorheological fluid-damping fin 10-5-magnetorheological fluid-magnetic conduction washer 10-
Magnetic loop as 3- coil 10-4- shell body 10-1, rotary magneto-rheological damper 10 can further improve machine
The flexibility of person joint, human-computer interaction security.
Shown in Figure 2, first angle sensor of the present invention includes first angle rotor sensor 4-1 and first
Angular transducer stator 4-2, the first angle rotor sensor 4-1 are connect with the inner ring 11-1 of elastic bodies of revolution 11, and first
Angular transducer stator 4-2 is fixedly connected with left side articular shell body 8；First cylinder roller bearing 15 is mounted on first angle biography
On sensor rotor 4-1；The second angle sensor 6 includes second angle rotor sensor 6-1 and second angle sensor
Stator 6-2, the second angle rotor sensor 6-1 are connect with the outer ring 11-2 of elastic bodies of revolution 11, second angle sensor
Stator 6-2 and second angle rotor sensor 6-1 is cooperatively connected, and the second cylinder roller bearing 16 is mounted on second angle sensor
On rotor 6-1.
First cylinder roller bearing 15 and the second cylinder roller bearing 16 passes through the upper axis of motor center axis respectively
Shoulder carries out axially position.
The joint right end cap 14 is equipped with COM serial line interface 14-1 and joint power supply line delivery outlet 14-2.
Referring to figs. 1 to 5, working principle of the present invention is as follows：
After joint of robot is powered, motor 2 receives 1 control instruction of motor driver, and rotor drives the rotation of motor center axis,
Motor power is transferred on harmonic speed reducer 3, by power transmission to elastic bodies of revolution 11 after the deceleration of harmonic speed reducer 3,
After the Flexible element 11-3 elastic deformation that the power for acting on the outer ring 11-2 of elastic bodies of revolution passes through three groups of stacking round shape, it will move
Power is transported to inner ring 11-1, and power is sent to the magnetorheological resistance of rotation through input shaft by the first mounting flange 12 by inner ring 11-1
On Buddhist nun's device 10, the magnetic field that coil 10-4 is generated after rotary magneto-rheological damper 10 is powered is magnetorheological through shell body 10-1-
Liquid-damping fin 10-5- magnetorheological fluid-shell body 10-1 forms magnetic loop, and power passes through 10 mistake of MR damper
After filter by output shaft finally by power through output flange 7 act on joint of robot load on, first angle sensor 4 with
Second angle sensor 6 detects elastic bodies of revolution 11 and deforms, and can calculate the institute after elastic bodies of revolution acts on by Hooke's law
Output torque size.
The foregoing is merely preferred embodiments of the invention, are not intended to restrict the invention, for the technology of this field
For personnel, the invention may be variously modified and varied.All any modification, equivalent substitution, improvement and etc. made for the present invention,
It should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of electromechanical integration passive compliance controls joint of robot, it is characterised in that：Including drive system, sensor-based system,
Connect transmission system, which is characterized in that the drive system includes motor driver（1）, motor（2）And harmonic speed reducer（3）,
The sensor-based system includes first angle sensor（4）, motor encoder（5）, second angle sensor（6）, the connection biography
Dynamic system includes output flange（7）, left side articular shell body（8）, right side articular shell body（9）, rotary magneto-rheological damper
（10）, elastic bodies of revolution（11）, the first mounting flange（12）, the second mounting flange（13）, the first cylinder roller bearing
（15）Second cylinder roller bearing（16）；
The output flange（7）With left side articular shell body（8）It is fixedly connected, rotary magneto-rheological damper（10）It is set to a left side
Lateral joint outer housing（8）Inside, and and output flange（7）Connection, meanwhile, rotary magneto-rheological damper（10）The other end with
First mounting flange（12）It is fixedly connected, first mounting flange（12）With elastic bodies of revolution（11）Connection；First jiao
Spend sensor（4）It is mounted on the first mounting flange（12）With elastic bodies of revolution（11）Between, the elastic bodies of revolution（11）With
Second mounting flange（13）Connection, second mounting flange（13）Inner ring and harmonic speed reducer（3）Flexbile gear（3-2）Even
It connects, second angle sensor（6）It is mounted on the second mounting flange（13）With elastic bodies of revolution（11）Between；Motor（2）Electricity
Machine central axis is fixed on rotor, and motor center axis left end is fixed at harmonic speed reducer（3）Wave producer（3-3）
On, the harmonic speed reducer（3）Pass through firm gear（3-1）It is fixedly mounted on electric machine casing, motor center axis right end and motor are compiled
Code device（5）Motor encoder rotor（5-2）Fixed suit, the motor encoder rotor（5-2）With motor encoder stator
（5-3）It matches, the motor encoder stator（5-3）It is fixed on motor encoder support（5-1）On, the motor encoder
Support（5-1）It is fixedly mounted on electric machine casing；Motor driver（1）It is fixed at right side articular shell body（9）On, it is described
Right side articular shell body（9）With joint right end cap（14）It is fixedly connected.
2. electromechanical integration passive compliance according to claim 1 controls joint of robot, it is characterised in that：The rotation
Turn elastomer（11）By inner ring（11-1）, outer ring（11-2）, Flexible element（11-3）Composition；The inner ring（11-1）With outer ring
（11-2）It is concentric, the Flexible element（11-3）It is fixed on inner ring（11-1）With outer ring（11-2）Between；Three groups of Flexible elements
Along inner ring（11-1）Even circumferential distribution, the inner ring（11-1）With the first mounting flange（12）Connection, the outer ring
（11-2）With the second mounting flange（13）Connection.
3. electromechanical integration passive compliance according to claim 2 controls joint of robot, it is characterised in that：The bullet
Property unit（11-3）It is circular for stacking.
4. electromechanical integration passive compliance according to claim 1 controls joint of robot, it is characterised in that：The rotation
Turn MR damper（10）By shell body（10-1）, non-magnetic washer（10-2）, magnetic conduction washer（10-3）, coil
（10-4）, damping fin（10-5）, input shaft（10-6）, output shaft（10-7）And attenuator end cap（10-8）Composition, the damping
Device end cap（10-8）It is mounted on shell body（10-1）On, the damping fin（10-5）It is fixed on input shaft（10-6）On,
The coil（10-4）With magnetic conduction washer（10-3）It is mounted on damping fin（10-5）Two sides；The output shaft（10-7）With output method
Blue disk（7）Connection, input shaft（10-6）With the first mounting flange（12）It is fixedly connected；The non-magnetic washer（10-2）Setting
In shell body（10-1）Inner wall on；The magnetic rheological liquid damper（10）Magnetic loop successively by shell body
（10-1）, coil（10-4）, magnetic conduction washer（10-3）, magnetorheological fluid, damping fin（10-5）, magnetorheological fluid, magnetic conduction washer（10-
3）, coil（10-4）, shell body（10-1）It is formed.
5. electromechanical integration passive compliance according to claim 1 controls joint of robot, it is characterised in that：Described
One angular transducer includes first angle rotor sensor（4-1）With first angle sensor stator（4-2）, the first angle
Rotor sensor（4-1）With elastic bodies of revolution（11）Inner ring（11-1）Connection, first angle sensor stator（4-2）With left side
Articular shell body（8）It is fixedly connected；First cylinder roller bearing（15）It is mounted on first angle rotor sensor（4-1）On；Institute
The second angle sensor stated（6）Including second angle rotor sensor（6-1）With second angle sensor stator（6-2）, institute
State second angle rotor sensor（6-1）With elastic bodies of revolution（11）Outer ring（11-2）Connection, second angle sensor stator
（6-2）With second angle rotor sensor（6-1）It is cooperatively connected, the second cylinder roller bearing（16）It is mounted on second angle sensing
Device rotor（6-1）On.
6. electromechanical integration passive compliance controls joint of robot according to claim 1 or 5, it is characterised in that：It is described
The first cylinder roller bearing（15）With the second cylinder roller bearing（16）Axis is carried out by the upper shaft shoulder of motor center axis respectively
To positioning.
7. electromechanical integration passive compliance according to claim 1 or 4 controls joint of robot, it is characterised in that：It is described
Rotary magneto-rheological damper（10）Pass through the first connecting flange（12）With elastic bodies of revolution（11）It is connected in parallel.
8. electromechanical integration passive compliance according to claim 7 controls joint of robot, it is characterised in that：The rotation
Turn MR damper（10）For external double barrels type structure.
9. electromechanical integration passive compliance according to claim 1 controls joint of robot, it is characterised in that：The pass
Save right end cap（14）It is equipped with COM serial line interface（14-1）With joint power supply line delivery outlet（14-2）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811024005.2A CN108818612A (en) | 2018-09-04 | 2018-09-04 | Electromechanical integration passive compliance controls joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811024005.2A CN108818612A (en) | 2018-09-04 | 2018-09-04 | Electromechanical integration passive compliance controls joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108818612A true CN108818612A (en) | 2018-11-16 |
Family
ID=64150935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811024005.2A Pending CN108818612A (en) | 2018-09-04 | 2018-09-04 | Electromechanical integration passive compliance controls joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818612A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849052A (en) * | 2018-12-20 | 2019-06-07 | 江苏集萃智能制造技术研究所有限公司 | A kind of submissive closing method of joint of robot |
| CN109899488A (en) * | 2019-03-27 | 2019-06-18 | 南京理工大学 | A kind of rotating device and its rotating method with damping unit |
| CN109927071A (en) * | 2019-03-18 | 2019-06-25 | 广东工业大学 | A kind of main robot single-degree-of-freedom revolute joint |
| CN110039573A (en) * | 2019-04-09 | 2019-07-23 | 睿尔曼智能科技（北京）有限公司 | A kind of passive type safety impedance mechanism with feedback and damping |
| CN110340878A (en) * | 2019-07-24 | 2019-10-18 | 东南大学 | A kind of distribution active passive mixing rope drive system |
| CN110454526A (en) * | 2019-08-21 | 2019-11-15 | 东北大学 | Magnetic current changing brake device and magnetorheological braking system based on wearable ectoskeleton |
| CN111387709A (en) * | 2020-04-29 | 2020-07-10 | 聊城市孩室宝家俱有限公司 | Intelligence children study table |
| CN112057301A (en) * | 2020-07-21 | 2020-12-11 | 中国科学院深圳先进技术研究院 | Driving device and exoskeleton robot applying same |
| WO2021212648A1 (en) * | 2020-04-23 | 2021-10-28 | 广州市精谷智能科技有限公司 | Shaft system structure for integrated joint of collaborative robot |
| CN113649998A (en) * | 2021-08-26 | 2021-11-16 | 武汉大学深圳研究院 | Series elastic driver suitable for flexible exoskeleton robot |
| CN114211523A (en) * | 2021-11-15 | 2022-03-22 | 西安交通大学 | Exoskeleton joint with variable damping flexible driving |
| CN114229041A (en) * | 2022-01-14 | 2022-03-25 | 中国科学院沈阳自动化研究所 | Double-freedom-degree solar cell array driving mechanism |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040029880A (en) * | 2002-10-02 | 2004-04-08 | 한국과학기술연구원 | A rotary compliant joint with a damper using magneto―rheological fluid and a spring |
| US20050092570A1 (en) * | 2003-11-03 | 2005-05-05 | China Patent Investment Limited | Electrorheological clutch |
| CN102632509A (en) * | 2012-04-17 | 2012-08-15 | 浙江大学 | Elastically-driven modular joint with force feedback control |
| CN104493836A (en) * | 2015-01-07 | 2015-04-08 | 中国科学院合肥物质科学研究院 | Robot joint structure based on magnetorheological fluid clutch |
| CN104589368A (en) * | 2014-12-16 | 2015-05-06 | 北京邮电大学 | Soft touch joint based on joint cross structure |
| CN104723354A (en) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | Mechanical impedance parameter adjustable flexible-drive rotary joint of robot |
| CN106402253A (en) * | 2016-10-10 | 2017-02-15 | 杭州电子科技大学 | Torsional vibration adjustment device based on magnetorheology |
| CN106763589A (en) * | 2016-12-21 | 2017-05-31 | 重庆大学 | The flexible mechanical arm joint arrangement of controllable damping and rigidity |
| CN107571255A (en) * | 2017-10-20 | 2018-01-12 | 杭州电子科技大学 | A kind of submissive driver of controllable damping for joint of robot |
| CN208759605U (en) * | 2018-09-04 | 2019-04-19 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
-
2018
- 2018-09-04 CN CN201811024005.2A patent/CN108818612A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040029880A (en) * | 2002-10-02 | 2004-04-08 | 한국과학기술연구원 | A rotary compliant joint with a damper using magneto―rheological fluid and a spring |
| US20050092570A1 (en) * | 2003-11-03 | 2005-05-05 | China Patent Investment Limited | Electrorheological clutch |
| CN102632509A (en) * | 2012-04-17 | 2012-08-15 | 浙江大学 | Elastically-driven modular joint with force feedback control |
| CN104723354A (en) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | Mechanical impedance parameter adjustable flexible-drive rotary joint of robot |
| CN104589368A (en) * | 2014-12-16 | 2015-05-06 | 北京邮电大学 | Soft touch joint based on joint cross structure |
| CN104493836A (en) * | 2015-01-07 | 2015-04-08 | 中国科学院合肥物质科学研究院 | Robot joint structure based on magnetorheological fluid clutch |
| CN106402253A (en) * | 2016-10-10 | 2017-02-15 | 杭州电子科技大学 | Torsional vibration adjustment device based on magnetorheology |
| CN106763589A (en) * | 2016-12-21 | 2017-05-31 | 重庆大学 | The flexible mechanical arm joint arrangement of controllable damping and rigidity |
| CN107571255A (en) * | 2017-10-20 | 2018-01-12 | 杭州电子科技大学 | A kind of submissive driver of controllable damping for joint of robot |
| CN208759605U (en) * | 2018-09-04 | 2019-04-19 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849052A (en) * | 2018-12-20 | 2019-06-07 | 江苏集萃智能制造技术研究所有限公司 | A kind of submissive closing method of joint of robot |
| CN109927071A (en) * | 2019-03-18 | 2019-06-25 | 广东工业大学 | A kind of main robot single-degree-of-freedom revolute joint |
| CN109899488A (en) * | 2019-03-27 | 2019-06-18 | 南京理工大学 | A kind of rotating device and its rotating method with damping unit |
| CN109899488B (en) * | 2019-03-27 | 2023-06-16 | 南京理工大学 | Rotating device with damping device and rotating method thereof |
| CN110039573A (en) * | 2019-04-09 | 2019-07-23 | 睿尔曼智能科技（北京）有限公司 | A kind of passive type safety impedance mechanism with feedback and damping |
| CN110340878A (en) * | 2019-07-24 | 2019-10-18 | 东南大学 | A kind of distribution active passive mixing rope drive system |
| CN110454526A (en) * | 2019-08-21 | 2019-11-15 | 东北大学 | Magnetic current changing brake device and magnetorheological braking system based on wearable ectoskeleton |
| WO2021212648A1 (en) * | 2020-04-23 | 2021-10-28 | 广州市精谷智能科技有限公司 | Shaft system structure for integrated joint of collaborative robot |
| CN111387709A (en) * | 2020-04-29 | 2020-07-10 | 聊城市孩室宝家俱有限公司 | Intelligence children study table |
| CN112057301B (en) * | 2020-07-21 | 2022-03-22 | 中国科学院深圳先进技术研究院 | Driving device and exoskeleton robot applying same |
| CN112057301A (en) * | 2020-07-21 | 2020-12-11 | 中国科学院深圳先进技术研究院 | Driving device and exoskeleton robot applying same |
| CN113649998A (en) * | 2021-08-26 | 2021-11-16 | 武汉大学深圳研究院 | Series elastic driver suitable for flexible exoskeleton robot |
| CN114211523A (en) * | 2021-11-15 | 2022-03-22 | 西安交通大学 | Exoskeleton joint with variable damping flexible driving |
| CN114211523B (en) * | 2021-11-15 | 2023-07-14 | 西安交通大学 | Variable damping compliant driving exoskeleton joint |
| CN114229041A (en) * | 2022-01-14 | 2022-03-25 | 中国科学院沈阳自动化研究所 | Double-freedom-degree solar cell array driving mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108818612A (en) | Electromechanical integration passive compliance controls joint of robot | |
| CN208759605U (en) | Electromechanical integration passive compliance controls joint of robot | |
| CN103817694B (en) | A kind of flexible joint of Hybrid mode | |
| CN206242048U (en) | A kind of small-sized six-freedom parallel motion platform | |
| CN108000554A (en) | A kind of stiffness variable flexible joint and its control method based on leaf spring | |
| CN106826906B (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| WO2021062637A1 (en) | Integrated joint and robot | |
| Cho et al. | Static balancing of a manipulator with hemispherical work space | |
| CN110425377B (en) | Bidirectional movement's inertial pipeline robot | |
| CN110978046B (en) | Variable-stiffness joint based on cylindrical cam and control method thereof | |
| CN107738259A (en) | Exoskeleton robot joint | |
| CN105643659B (en) | Flexible rotary mechanical joint | |
| EP3069435A2 (en) | Actuator system with dual chambers | |
| CN107175682B (en) | A kind of modularization snake-shaped robot joint | |
| Whitney et al. | A passively safe and gravity-counterbalanced anthropomorphic robot arm | |
| CN109318672A (en) | Electromagnetic shock absorber based on planetary gear motor | |
| CN110454526B (en) | Magneto-rheological braking system based on wearable exoskeleton | |
| CN107150338A (en) | Hydraulic pipeline structure and multiple degrees of freedom hydraulic manipulator | |
| CN107218339A (en) | A kind of friction damper device | |
| CN105048713B (en) | A kind of electromechanical used container of the birotor leading screw of integration | |
| CN112549012A (en) | Series elastic driver based on flexible hinge and control method | |
| CN214352537U (en) | Joint enveloped by streamline housing | |
| CN208010833U (en) | Active suspension system, damper, damping means and hydraulic cylinder | |
| CN206551012U (en) | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure | |
| CN206748474U (en) | A kind of bidirectional balanced device of mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181116 |