CN109551482B - Driving and control integrated moment-measurable robot swing joint module - Google Patents
Driving and control integrated moment-measurable robot swing joint module Download PDFInfo
- Publication number
- CN109551482B CN109551482B CN201811590623.3A CN201811590623A CN109551482B CN 109551482 B CN109551482 B CN 109551482B CN 201811590623 A CN201811590623 A CN 201811590623A CN 109551482 B CN109551482 B CN 109551482B
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- transmission shaft
- encoder
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- shaft
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Classifications
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- 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
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
Abstract
The driving and controlling integrated moment-measurable robot swing joint module comprises a base, a joint output piece, a driving controller, a transmission mechanism, a moment sensor, a first encoder and a second encoder, wherein the base comprises a mounting part and a transmission part, the transmission part is provided with a transmission cavity, the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer, a stator of the frameless motor is fixed in the transmission cavity, the transmission shaft is connected with a rotor of the frameless motor in a matched manner, one end of the transmission shaft is transmitted to one end of the moment sensor through the harmonic reducer, and the other end of the moment sensor is connected with the joint output piece; the driving controller is arranged on the mounting part, the first encoder is used for measuring the angular displacement of the moment sensor, and the second encoder is used for measuring the angular displacement of the rotor; the control end of the frameless motor is electrically connected with the driving controller, and the torque sensor, the first encoder and the second encoder are respectively electrically connected with the driving controller. The invention realizes the moment control of the joints and the flexible control of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a driving and controlling integrated moment-measurable robot swing joint module.
Background
With the rapid development of modern industrial technology, robots have been widely used in various industries. Such as welding, spraying, heat treatment, transportation, automatic assembly, loading and unloading, detection, etc., in the automotive field, and robots are gradually replacing the manual work to perform heavy and tedious repetitive operations such as packaging, transportation, carrying, etc. in the fields of transportation, wharf, food and medicine, electronic manufacturing, etc. But are rarely used in work tasks such as precision assembly, scraping or grinding of workpiece surfaces, polishing and scrubbing, because in similar tasks the robotic end effector is required to be in contact with the environment and to maintain a certain contact force, which requires the robot to have external force sensing and force control functions.
The existing mature robots with force control function have few products or high price, which is generally more than several times of that of common industrial robots. Meanwhile, as the application range of the robot is enlarged, some tasks are needed to be completed together by the cooperation of the robot and the human, and high requirements are put on the safety performance of the robot. At present, the safety performance of the robot is generally solved by adopting two schemes, one scheme is to ensure the safety when interacting with a person by changing the rigidity of the robot structure; the other is to realize the flexibility of the robot when contacting with objects in the environment through a control algorithm strategy of a software layer. Therefore, the robot joint module capable of being controlled by the force with high integration level and high cost performance can be developed, and has great significance for expanding the application range of the robot, and meanwhile, the safety performance of the robot can be greatly improved.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a driving and control integrated moment-measurable robot swing joint module which can realize moment detection and control of a robot joint so as to realize force control of the whole serial robot; the robot swing joint module is simple and compact in structure, high in joint transmission precision and torque output precision, and simple and attractive in appearance due to the adoption of an internal wiring mode, so that the safety and reliability of the robot are essentially improved.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the driving and controlling integrated moment-measurable robot swing joint module comprises a base, a joint output piece, a driving controller, a transmission mechanism, a moment sensor, a first encoder and a second encoder, wherein the base comprises a mounting part and a transmission part, the transmission part is provided with a transmission cavity, the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer, the frameless motor comprises a stator and a rotor, the stator of the frameless motor is fixed in the transmission cavity, the transmission shaft is connected with the rotor of the frameless motor in a matched manner, two ends of the transmission shaft are supported in the transmission cavity through bearings, and one end of the transmission shaft is connected with a wave generator of the harmonic reducer; the steel wheel of the harmonic reducer is connected with one end of a moment sensor, and the other end of the moment sensor is connected with a joint output piece; the driving controller is arranged on the mounting part, the first encoder is used for measuring the angular displacement information of the joint output piece or the moment sensor, and the second encoder is used for measuring the angular displacement information of the rotor or the transmission shaft; the control end of the frameless motor is electrically connected with the driving controller, and the torque sensor, the first encoder and the second encoder are respectively electrically connected with the driving controller.
According to the invention, the angular displacement information of the joint output piece or the moment sensor is read through the first encoder in the process of joint movement, the angular displacement information of the rotor is obtained through the second encoder, the moment sensor is used for measuring the external moment born by the joint output piece, and then the driving controller is used for controlling the rotation of the frameless motor according to the angular displacement information of the rotor, the angular displacement information of the joint output piece and the external moment born by the joint output piece and a control algorithm preset by the driving controller. The driving controller obtains the deflection angle of the frameless motor rotor and the deflection angle of the joint output piece by obtaining the angular displacement information of the frameless motor rotor and the angular displacement information of the joint output piece, and obtains external torque applied to the joint module by the outside through the torque sensor, thereby providing necessary conditions for full-closed loop feedback of torque control, and therefore, the torque control of the joint module and the flexible control of the robot can be realized, and the joint transmission precision and the torque output precision are improved.
As an improvement of the invention, the first encoder is an absolute encoder, the absolute encoder comprises a magnetic ring and a reading head, the transmission shaft is of a hollow structure, the harmonic reducer is provided with a hollow hole, a hollow measuring shaft is arranged in the hollow hole of the transmission shaft, one end of the measuring shaft penetrates through the hollow hole of the harmonic reducer and then is fixedly connected with the torque sensor, the other end of the measuring shaft extends out of the hollow hole of the transmission shaft, the magnetic ring of the absolute encoder is fixed on the end face of the other end of the measuring shaft through a first mounting seat, a first bracket is arranged in the transmission cavity, and the reading head of the absolute encoder is fixed on the first bracket and corresponds to the position of the magnetic ring of the absolute encoder; the hollow holes of the harmonic reducer, the measuring shaft and the transmission shaft form an inner wire routing hole.
Further, a bearing is arranged between the transmission shaft and the measuring shaft.
As an improvement of the invention, the second encoder is an incremental encoder, the incremental encoder comprises a magnetic ring and a reading head, the incremental encoder magnetic ring is fixed on the end face of the other end of the transmission shaft through a second mounting seat, a second bracket is arranged in the transmission cavity, and the reading head of the incremental encoder is fixed on the second bracket and corresponds to the position of the incremental encoder magnetic ring.
As an improvement of the invention, the other end of the transmission shaft is provided with a stop mechanism for preventing the transmission shaft from rotating randomly, when the swing joint module is electrified, the transmission shaft can rotate freely, and when the swing joint module is deenergized, the transmission shaft is blocked by the stop mechanism and cannot rotate freely.
As an improvement of the invention, the stop mechanism comprises an electromagnet, a return spring, an armature and a stop snap ring, wherein the stop snap ring is fixedly sleeved on the other end of the transmission shaft, the electromagnet and the armature are fixed in the transmission cavity, when the swing joint module is electrified, the electromagnet and the armature are attracted, the armature is positioned at the attraction position, the transmission shaft can rotate freely, when the swing joint module is in power failure, the electromagnet is powered off, the armature returns to the stop position under the action of the return spring, the stop snap ring is blocked by the armature, and the transmission shaft cannot rotate freely.
As an improvement of the invention, the bearings at the two ends of the transmission shaft are supported in the transmission cavity through the bearing blocks, the other end of the transmission shaft is also provided with the shaft sleeve, the stop mechanism also comprises a wave washer and a stop shoulder, the stop shoulder is fixedly arranged at the other end of the transmission shaft, the wave washer and the stop snap ring are sleeved at the other end of the transmission shaft and are sequentially positioned between the shaft sleeve and the stop shoulder, and the stop snap ring is pressed and clamped by the wave washer and the stop shoulder to be sleeved at the other end of the transmission shaft.
Further, the limiting shoulder is a C-shaped positioning ring, a clamping groove is formed in the other end of the transmission shaft, and the C-shaped positioning ring is buckled on the clamping groove.
As an improvement of the invention, the moment sensor is a spoke type sensor, the spoke type sensor comprises an inner ring, an outer ring and a strain beam, the outer ring of the moment sensor is fixedly connected with a steel wheel of the harmonic reducer through bolts, and the inner ring of the moment sensor is fixedly connected with the joint output piece through bolts.
Further, a partition plate is arranged between the mounting part and the transmission part of the base, and the driving controller is fixed on the partition plate through a heat dissipation plate.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the moment sensor is added in the joint module, so that the robot assembled by the module can sense force information in the environment to realize force control, thereby improving the safety and self-protection of the robot;
2. the driving controller obtains the deflection angle of the rotor of the frameless motor, the deflection angle of the joint output piece and the deflection angle difference between the rotor and the joint output piece through the encoder, provides necessary conditions for full-closed loop feedback of torque control, and realizes torque control of the joint module and flexible control of the robot, thereby improving joint transmission precision and torque output precision;
3. the combination of the incremental double encoders and the absolute double encoder is adopted, and the absolute encoder is arranged at the joint output end, so that the joint high-precision position control can be realized;
4. the invention realizes the internal wiring of the joint module through reasonable internal structural design and selection, thereby ensuring the aesthetic property of the appearance of the robot joint.
Drawings
FIG. 1 is a cross-sectional view of a drive-control integrated moment-measurable robot swing joint module of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a left side view of a drive-control integrated moment-measurable robot swing joint module of the present invention;
fig. 4 is a schematic diagram of a driving and controlling integrated moment-measurable robot swing joint module stop mechanism according to the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings.
Examples
Referring to fig. 1 to 4, a driving and controlling integrated moment-measurable robot swing joint module comprises a base 100, a joint output piece 200, a driving controller 300, a transmission mechanism, a moment sensor 400, a first encoder and a second encoder, wherein the base 100 comprises a mounting part 10 and a transmission part 20, the transmission part 20 is provided with a transmission cavity 21, the transmission mechanism comprises a frameless motor, a transmission shaft 30 and a harmonic reducer 40, the frameless motor comprises a stator 51 and a rotor 52, the stator 51 of the frameless motor is fixed in the transmission cavity, the transmission shaft 30 is connected with the rotor 52 of the frameless motor in a matched manner, two ends of the transmission shaft 30 are supported in the transmission cavity through bearings 31, and one end of the transmission shaft 30 is connected with a wave generator of the harmonic reducer 40; the steel wheel of the harmonic reducer 40 is connected with one end of the moment sensor 400, and the other end of the moment sensor 400 is connected with the joint output piece 200; the driving controller 300 is provided on the mounting portion 10, the first encoder is used for measuring angular displacement information of the joint output member 200 or the torque sensor 400, and the second encoder is used for measuring angular displacement information of the rotor 52 or the transmission shaft 30; the control end of the frameless motor is electrically connected to the driving controller 300, and the torque sensor 400, the first encoder, and the second encoder are electrically connected to the driving controller, respectively.
According to the invention, the angular displacement information of the joint output piece or the moment sensor is read through the first encoder in the process of joint movement, the angular displacement information of the rotor is obtained through the second encoder, the moment sensor is used for measuring the external moment born by the joint output piece, and then the driving controller is used for controlling the rotation of the frameless motor according to the angular displacement information of the rotor, the angular displacement information of the joint output piece and the external moment born by the joint output piece and a control algorithm preset by the driving controller. The driving controller obtains the deflection angle of the frameless motor rotor and the deflection angle of the joint output piece by obtaining the angular displacement information of the frameless motor rotor and the angular displacement information of the joint output piece, and obtains external torque applied to the joint module by the outside through the torque sensor, thereby providing necessary conditions for full-closed loop feedback of torque control, realizing torque control of the joint module and flexible control of the robot, and further improving joint transmission precision and torque output precision.
In this embodiment, the first encoder is an absolute encoder, the absolute encoder includes a magnetic ring 62 and a reading head 61, the transmission shaft 30 is of a hollow structure, the harmonic reducer 40 is provided with a hollow hole, a hollow measurement shaft 70 is arranged in the hollow hole of the transmission shaft 30, one end of the measurement shaft 70 passes through the hollow hole of the harmonic reducer 40 and is fixedly connected with the torque sensor 400, the other end of the measurement shaft 70 extends out of the hollow hole of the transmission shaft 30, the magnetic ring 62 of the absolute encoder is fixed on the end face of the other end of the measurement shaft 70 through a first mounting seat 64, a first bracket 63 is arranged in the transmission cavity, and the reading head 61 of the absolute encoder is fixed on the first bracket 63 and corresponds to the position of the magnetic ring 62 of the absolute encoder; the hollow holes of the harmonic reducer 40, the measuring shaft 70 and the transmission shaft 30 constitute an inner wiring hole. The absolute encoder can directly measure the deflection angle of the joint output piece relative to the base around the harmonic speed reducer and the transmission shaft, overcomes the position error caused by certain flexibility of the harmonic speed reducer and the torque sensor, improves the position accuracy of the joint module, and provides necessary conditions for fully closed loop feedback of the joint position of the robot. In addition, one end of the measuring shaft is fixedly connected with the torque sensor in a mode of penetrating through the harmonic reducer, so that the structural size of the joint module is greatly reduced, meanwhile, the measuring result is not influenced, the hollow holes of the harmonic reducer, the measuring shaft and the transmission shaft form an inner wire routing hole, and the inner wire routing mode is adopted, so that the appearance is concise and attractive, and the safety and the reliability of the robot are essentially improved. In addition to the above, the bearing 71 is provided between the transmission shaft 30 and the measurement shaft 70, so that the rotation accuracy of the measurement shaft can be improved.
In this embodiment, the second encoder is an incremental encoder, the incremental encoder includes a magnetic ring 84 and a reading head 81, the incremental encoder magnetic ring 84 is fixed on the end face of the other end of the transmission shaft 30 through a second mounting seat 82, a second bracket 83 is disposed in the transmission cavity, and the incremental encoder reading head 81 is fixed on the second bracket 83 and corresponds to the position of the incremental encoder magnetic ring 84. The incremental encoder is used for measuring the angular displacement information of the rotor or the transmission shaft, so that the rotation speed and the rotation direction of the joint module are controlled more accurately.
On the basis of the above, the invention is further improved, the other end of the transmission shaft 30 is provided with a stop mechanism for preventing the transmission shaft 30 from rotating randomly, when the swing joint module is electrified, the transmission shaft can rotate freely, and when the swing joint module is in power failure, the transmission shaft is blocked by the stop mechanism and cannot rotate freely. When the swing joint module is not in operation, the stop mechanism is used for preventing the transmission shaft from rotating randomly. Specifically, the stop mechanism comprises an electromagnet 91, a return spring 96, an armature 92 and a stop snap ring 93, the stop snap ring 93 is fixedly sleeved on the other end of the transmission shaft 30, the electromagnet 91 and the armature 92 are fixed in a transmission cavity, when the swing joint module is electrified, the electromagnet 91 and the armature 92 are attracted, the armature 92 is in an attracting position, the transmission shaft 30 can rotate freely, when the swing joint module is powered off, the electromagnet 91 is powered off, the armature 92 returns to the stop position under the action of the return spring 96, the stop snap ring 93 is clamped by the armature 92, and the transmission shaft 30 cannot rotate freely. The electromagnet is matched with the armature, the armature is provided with two working positions, the electromagnet is electrified, the armature is in the attraction position, the electromagnet is powered off, and the armature is in the stop position, so that when the swing joint module is not working, the stop mechanism is used for preventing the transmission shaft from rotating randomly.
On the basis of the above, the invention is further improved, the bearings 31 on the two ends of the transmission shaft 30 are supported in the transmission cavity through the bearing blocks 32, the other end of the transmission shaft 30 is also provided with the shaft sleeve 33, the stop mechanism also comprises a wave washer 94 and a stop shoulder 95, the stop shoulder 95 is fixedly arranged on the other end of the transmission shaft 30, the wave washer 94 and the stop snap ring 93 are sleeved on the other end of the transmission shaft and sequentially positioned between the shaft sleeve 33 and the stop shoulder 95, and the stop snap ring 93 is pressed and clamped by the wave washer 94 and the stop shoulder 95 to be sleeved on the other end of the transmission shaft 30. The stop clamping ring is pressed and clamped on the other end of the transmission shaft by the wave washer and the limiting shoulder, so that the relative fixed connection between the stop clamping ring and the transmission shaft is maintained by friction force, and when the external moment of the joint output piece exceeds a certain value, the stop clamping ring slips on the other end of the transmission shaft, the joint output piece can rotate, and the stop clamping ring is prevented from being broken forcedly. Further, the limiting shoulder 95 is a C-shaped positioning ring, a clamping groove is formed on the other end of the transmission shaft 30, and the C-shaped positioning ring is buckled on the clamping groove.
In this embodiment, the torque sensor 400 is a spoke-type sensor, the spoke-type sensor includes an inner ring, an outer ring and a strain beam, the outer ring of the torque sensor 400 is fixedly connected with the steel wheel of the harmonic reducer 40 through bolts, and the inner ring of the torque sensor 400 is fixedly connected with the joint output member 200 through bolts.
In this embodiment, a partition plate 12 is disposed between the mounting portion 10 and the transmission portion 20 of the base 100, and the driving controller 300 is fixed to the partition plate 12 through the heat dissipation plate 11. The drive controller is connected with the partition plate of the base through the heat dissipation plate, so that heat is transferred to the base to increase the heat dissipation area, the heat dissipation is accelerated, and the drive controller can be kept at a lower temperature level under long-time working.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the moment sensor is added in the joint module, so that the robot assembled by the module can sense force information in the environment to realize force control, thereby improving the safety and self-protection of the robot;
2. the driving controller obtains the deflection angle of the rotor of the frameless motor, the deflection angle of the joint output piece and the deflection angle difference between the rotor and the joint output piece through the encoder, provides necessary conditions for full-closed loop feedback of torque control, and realizes torque control of the joint module and flexible control of the robot, thereby improving joint transmission precision and torque output precision;
3. the combination of the incremental double encoders and the absolute double encoder is adopted, and the absolute encoder is arranged at the joint output end, so that the joint high-precision position control can be realized;
4. the invention realizes the internal wiring of the joint module through reasonable internal structural design and selection, thereby ensuring the conciseness and the beautiful appearance of the robot joint.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (5)
1. A driving and controlling integrated moment can measure and control the robot and swing the joint module, its characterized in that: the device comprises a base, a joint output piece, a driving controller, a transmission mechanism, a torque sensor, a first encoder and a second encoder, wherein the base comprises a mounting part and a transmission part, the transmission part is provided with a transmission cavity, the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer, the frameless motor comprises a stator and a rotor, the stator of the frameless motor is fixed in the transmission cavity, the transmission shaft is connected with the rotor of the frameless motor in a matched manner, two ends of the transmission shaft are supported in the transmission cavity through bearings, and one end of the transmission shaft is connected with a wave generator of the harmonic reducer; the steel wheel of the harmonic reducer is connected with one end of a moment sensor, and the other end of the moment sensor is connected with a joint output piece; the driving controller is arranged on the mounting part, the first encoder is used for measuring the angular displacement information of the joint output piece or the moment sensor, and the second encoder is used for measuring the angular displacement information of the rotor or the transmission shaft; the control end of the frameless motor is electrically connected with the driving controller, and the torque sensor, the first encoder and the second encoder are respectively electrically connected with the driving controller;
the first encoder is an absolute encoder, the absolute encoder comprises a magnetic ring and a reading head, the transmission shaft is of a hollow structure, the harmonic reducer is provided with a hollow hole, a hollow measuring shaft is arranged in the hollow hole of the transmission shaft, one end of the measuring shaft penetrates through the hollow hole of the harmonic reducer and then is fixedly connected with the torque sensor, the other end of the measuring shaft extends out of the hollow hole of the transmission shaft, the magnetic ring of the absolute encoder is fixed on the end face of the other end of the measuring shaft through a first mounting seat, a first support is arranged in the transmission cavity, and the reading head of the absolute encoder is fixed on the first support and corresponds to the position of the magnetic ring of the absolute encoder; the harmonic reducer, the measuring shaft and the hollow hole of the transmission shaft form an inner wire routing hole;
the second encoder is an incremental encoder, the incremental encoder comprises a magnetic ring and a reading head, the magnetic ring of the incremental encoder is fixed on the end face of the other end of the transmission shaft through a second mounting seat, a second bracket is arranged in the transmission cavity, and the reading head of the incremental encoder is fixed on the second bracket and corresponds to the position of the magnetic ring of the incremental encoder;
the other end of the transmission shaft is provided with a stop mechanism for preventing the transmission shaft from rotating at will, when the swing joint module is electrified, the transmission shaft can rotate freely, and when the swing joint module is deenergized, the transmission shaft is blocked by the stop mechanism and cannot rotate freely;
the stop mechanism comprises an electromagnet, a reset spring, an armature and a stop snap ring, wherein the stop snap ring is fixedly sleeved at the other end of the transmission shaft, the electromagnet and the armature are fixed in the transmission cavity, when the swing joint module is electrified, the electromagnet and the armature are attracted, the armature is positioned at the attraction position, the transmission shaft can rotate freely, when the swing joint module is deenergized, the electromagnet is deenergized, the armature returns to the stop position under the action of the reset spring, the stop snap ring is clamped by the armature, and the transmission shaft cannot rotate freely;
the bearing on the transmission shaft both ends is supported in the transmission chamber through the bearing frame, still be equipped with the axle sleeve on the transmission shaft other end, stop mechanism still includes wave washer and spacing convex shoulder, and spacing convex shoulder is fixed to be established on the transmission shaft other end, wave washer and stop snap ring cover are located the axle sleeve in proper order between axle sleeve and the spacing convex shoulder on the transmission shaft other end, stop snap ring is pressed tightly by wave washer and spacing convex shoulder and overlaps on the transmission shaft other end.
2. The drive and control integrated moment-measurable robot swing joint module of claim 1, wherein: and a bearing is arranged between the transmission shaft and the measuring shaft.
3. The drive and control integrated moment-measurable robot swing joint module of claim 1, wherein: the limiting convex shoulder is a C-shaped positioning ring, a clamping groove is formed in the other end of the transmission shaft, and the C-shaped positioning ring is buckled on the clamping groove.
4. The drive and control integrated moment-measurable robot swing joint module of claim 1, wherein: the torque sensor is a spoke type sensor, the spoke type sensor comprises an inner ring, an outer ring and a strain beam, the outer ring of the torque sensor is fixedly connected with a steel wheel of the harmonic reducer through bolts, and the inner ring of the torque sensor is fixedly connected with the joint output piece through bolts.
5. The drive and control integrated moment-measurable robot swing joint module of claim 1, wherein: a partition plate is arranged between the mounting part and the transmission part of the base, and the driving controller is fixed on the partition plate through a heat dissipation plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811590623.3A CN109551482B (en) | 2018-12-20 | 2018-12-20 | Driving and control integrated moment-measurable robot swing joint module |
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| CN201811590623.3A CN109551482B (en) | 2018-12-20 | 2018-12-20 | Driving and control integrated moment-measurable robot swing joint module |
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| CN109551482B true CN109551482B (en) | 2023-10-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110539329A (en) * | 2019-09-05 | 2019-12-06 | 杭州程天科技发展有限公司 | exoskeleton robot joint module |
| CN113070901A (en) * | 2021-03-18 | 2021-07-06 | 哈尔滨工业大学（深圳） | Integrated flexible joint for robot |
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| US9044865B2 (en) * | 2013-03-07 | 2015-06-02 | Engineering Services Inc. | Two joint module |
| JP6224349B2 (en) * | 2013-05-15 | 2017-11-01 | 株式会社アイエイアイ | Stepping motor control system and stepping motor control method |
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| CN102626930A (en) * | 2012-04-28 | 2012-08-08 | 哈尔滨工业大学 | Mechanical arm modular joint with power-off brake and multiple perceptive functions |
| US9239100B1 (en) * | 2013-06-24 | 2016-01-19 | Meka Robotics, LLC | Rotary series elastic actuator |
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