CN109895122A - A kind of cooperation joint of robot with force sensing function - Google Patents
A kind of cooperation joint of robot with force sensing function Download PDFInfo
- Publication number
- CN109895122A CN109895122A CN201711283195.5A CN201711283195A CN109895122A CN 109895122 A CN109895122 A CN 109895122A CN 201711283195 A CN201711283195 A CN 201711283195A CN 109895122 A CN109895122 A CN 109895122A
- Authority
- CN
- China
- Prior art keywords
- drive torque
- torque motor
- flange
- straight drive
- rotor
- 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.)
- Granted
Links
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 42
- 230000035515 penetration Effects 0.000 claims abstract description 25
- 238000009434 installation Methods 0.000 claims description 27
- 210000004907 gland Anatomy 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 3
- 229910052742 iron Inorganic materials 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 150000001875 compounds Chemical class 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 241000233855 Orchidaceae Species 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Abstract
The invention belongs to robotic technology field, in particular to a kind of cooperation joint of robot with force sensing function.Including output flange, torque sensor, harmonic speed reducer, rimless straight drive torque motor, input flange and penetration pipe, wherein harmonic speed reducer and rimless straight drive torque motor are placed in the cavity formed by output flange and input flange, output flange and input flange can relatively rotate, harmonic speed reducer and rimless straight drive torque motor are sheathed on penetration pipe, the output end of rimless straight drive torque motor is connect by harmonic speed reducer with penetration pipe, and penetration pipe is connect by torque sensor with output flange.The present invention has force sensing function, and the cooperation robot being made from it can be under half structure environment with people's work compound, which has the advantages that high-precision force perceptional function, compact-sized, rigidity is high, scalability is good.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of cooperation joint of robot with force sensing function.
Background technique
Traditional industrial robot commensurate structure production environment, large batch of manufacturing mode, in automobile, electronics electricity
The industries such as gas, rubber and plastics are widely used.In recent years, as the market demand is to user's customization, multi items, medium and small
The transformation of batch production also changes the application demand of robot, it is desirable that robot can be applicable in operation flexible and appoint
Business, semi-structured working environment etc..
In recent years, cooperation robot is increasingly subject to the attention of people, has had more robot building quotient to develop this
Can with person cooperative work, more secure and flexible novel robot, this robot be applied to precision assembly, packaging,
Field is manufactured in polishing, detection and lathe loading and unloading etc..Cooperate robot have lightweight, heavy load self weight ratio, it is flexible it is easy-to-use,
Highly-safe, can be with people's work compound the features such as.Technique be not only advantageous for improve large enterprise production efficiency, also for
Medium-sized and small enterprises improve automated job level and provide technical support.
Currently, the method that cooperation joint of robot realizes force sensing function is broadly divided into two kinds, it is based on motor amperage
The power of detection perceives and the perception of sensor-based power.The former haves the shortcomings that detection accuracy is poor, inaccurate, and the latter is due to drawing
The components such as torque sensor, encoder are entered and difficulty are caused to the raising of Robot Stiffness performance.
So how to guarantee the rigidity of joint of robot even robot while introducing sensor, it is tight to improve structure
Gathering property is the technical problem to be solved by the personnel in the art.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of cooperation joint of robot with force sensing function,
The device have force sensing function, the cooperation robot being made from it can under half structure environment with people's work compound, the association
Making joint of robot has the advantages that high-precision force perceptional function, compact-sized, rigidity is high, scalability.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of cooperation joint of robot with force sensing function, including output flange, torque sensor, harmonic reduction
Device, rimless straight drive torque motor, input flange and penetration pipe, wherein harmonic speed reducer and rimless straight drive torque motor be placed in by
In the cavity that output flange and input flange are formed, the output flange and the input flange can be relatively rotated, the harmonic wave
Retarder and rimless straight drive torque motor are sheathed on penetration pipe, and the output end of the rimless straight drive torque motor passes through harmonic wave
Retarder is connect with the penetration pipe, and the penetration pipe is connect by torque sensor with the output flange.
The rimless straight drive torque motor includes rimless straight drive torque motor stator, rimless straight drive torque motor rotor and turns
Sub- installation axle, wherein rimless straight drive torque motor stator is fixedly connected with the input flange, the rimless straight drive torque motor
Rotor is sleeved in the rotor installation axle, and the output end of the rotor installation axle is connect with the harmonic speed reducer.
The harmonic speed reducer includes harmonic reducer flexible wheel, harmonic speed reducer wave producer and harmonic speed reducer steel wheel,
Wherein harmonic speed reducer wave producer and the rotor install axis connection, and the harmonic speed reducer steel wheel is connect with input flange,
The harmonic reducer flexible wheel is connect with the penetration pipe.
The input terminal of the rotor installation axle is equipped with brake, and the brake includes that mounting seat of brake, brake rub
Pad and brake armature, wherein mounting seat of brake is connect with the input flange, and the brake armature is mounted on braking
In device mounting base, the brake bush and the rotor install axis connection.
The input terminal of the rotor installation axle is additionally provided with absolute value encoder and incremental encoder.
The absolute value encoder includes absolute value encoder mounting base, absolute value encoder rotor and absolute value encoder
Stator, wherein absolute value encoder rotor is installed on the penetration pipe, and the absolute value encoder stator is compiled by absolute value
Code device mounting base is installed on the mounting seat of brake.
The incremental encoder includes incremental encoder read head, incremental encoder code-disc, read head mounting base and code
Disk mounting base, wherein incremental encoder code-disc is installed in the rotor installation axle by code-disc mounting base, the rotor peace
The both ends of dress axis are installed on the input flange by deep groove ball bearing, and input terminal is equipped with bearing gland, the bearing pressure
It covers and read head mounting base is installed, incremental encoder read head is installed on bearing gland by read head mounting base.
The output flange is installed on by right-angled intersection ball bearings, the inner ring of the right-angled intersection ball bearing
On the input flange, and the fixed pressure ring by being installed on input flange is fixed, the right-angled intersection ball bearing
Outer ring is fixed by the output flange and collar pressure ring.
The first limit block and the second limit block are installed, the fixed pressure ring is equipped with positioned at described on the input flange
Third limited block between the first limit block and the second limit block.
The cooperation joint of robot with force sensing function, further includes the driving being set on the input flange
Device, driver expansion board is equipped on the driver, and the driver expansion board is used for the torque sensor and nothing
The straight drive torque motor of frame provides constant voltage dc source.
Advantages of the present invention and good effect are as follows:
1. the present invention is embedded in torque sensor in joint, torque suffered by joint can be accurately perceived, precision is high；
2. the present invention shortens power transmitting using right-angled intersection ball bearings, the structure of absolute value encoder postposition
Route, improve joint stiffness；
3. the present invention uses modularization, integrated design philosophy, the structure of module is simple, to various complex environments and answers
With having required stronger adaptability and scalability；
4. the present invention is equipped with mechanical position limitation, while realizing the braking protection at power down moment using brake, module is increased
Safety in use process；
5. the present invention uses hollow cabling, facilitates internal wiring, increase the motion range in joint, structure is simple；
6. overall construction design of the present invention is compact, the shell of all aluminium alloy, quality and volume are all smaller.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is overall appearance schematic diagram of the invention；
Fig. 3 is the structural schematic diagram of the rimless straight drive torque motor of the present invention；
Fig. 4 is the structural schematic diagram of incremental encoder of the present invention；
Fig. 5 is the structural schematic diagram of absolute value encoder of the present invention.
In figure: 1 is output flange, and 2 be torque sensor, and 3 be harmonic speed reducer, and 3-1 is harmonic reducer flexible wheel, 3-2
For harmonic speed reducer wave producer, 3-3 is harmonic speed reducer steel wheel, and 4 be rimless straight drive torque motor, and 4-1 is rimless straight drive
Torque motor stator, 4-2 are rimless straight drive torque motor rotor, and 5 be brake, and 5-1 is brake bush, and 5-2 is brake
Armature, 6 be incremental encoder, and 6-1 is incremental encoder read head, and 6-2 is incremental encoder code-disc, and 7 be input flange,
8 be penetration pipe, and 9 be rotor installation axle, and 10 be mounting seat of brake, and 11 be right-angled intersection ball bearing, and 12 be fixed pressure ring, 13
For collar pressure ring, 14 be absolute value encoder, and 14-1 is absolute value encoder rotor, and 14-2 is absolute value encoder stator, 15
It is the first limited block for absolute value encoder mounting base, 16,17 be the second limited block, and 18 be third limited block, and 19 is deep for first
Ditch ball bearing, 20 be the second deep groove ball bearing, and 21 be bearing gland, and 22 be read head mounting base, and 23 be code-disc mounting base, and 24 be drive
Dynamic device, 25 be driver expansion board.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figs. 1-2, a kind of cooperation joint of robot with force sensing function provided by the invention, including output method
Orchid 1, torque sensor 2, harmonic speed reducer 3, rimless straight drive torque motor 4, input flange 7 and penetration pipe 8, wherein harmonic reduction
Device 3 and rimless straight drive torque motor 4 are placed in the cavity formed by output flange 1 and input flange 7, output flange 1 and defeated
Entering flange 7 can relatively rotate, and harmonic speed reducer 3 and rimless straight drive torque motor 4 are sheathed on penetration pipe 8, rimless straight drive
The output end of torque motor 4 is connect by harmonic speed reducer 3 with penetration pipe 8, and penetration pipe 8 passes through torque sensor 2 and output flange 1
Connection.
Further, output flange 1 is hat type output flange, and output flange 1 is supported by right-angled intersection ball bearing 11
It is rotated, guarantees that harmonic speed reducer 3 and torsion sensor 2 are not toppled power.The inner ring of right-angled intersection ball bearing 11
It is installed on input flange 7, and the fixed pressure ring 12 by being installed on input flange 7 is fixed, right-angled intersection ball bearing
11 outer ring is fixed by output flange 1 and collar pressure ring 13.Right-angled intersection ball bearing 11 is capable of providing high rigidity, low resistance
Rotary motion further reduced joint quality and volume.
Further, the first limited block 16 and the second limited block 17 are installed, fixed pressure ring 12 is equipped on input flange 7
Third limited block 18 between the first limited block 16 and the second limited block 17, the first limited block 16 and the second limited block 17 with
Third limited block 18 forms mechanical position limitation.
As shown in Figure 1, Figure 3, rimless straight drive torque motor 4 includes rimless straight drive torque motor stator 4-1, rimless straight drive
Torque motor rotor 4-2 and rotor installation axle 9, wherein rimless straight drive torque motor stator 4-1 is solid by adhesive and input flange 7
Fixed connection, rimless straight drive torque motor rotor 4-2 are sleeved in rotor installation axle 9 and are consolidated by adhesive and rotor installation axle 9
Fixed connection, the output end of rotor installation axle 9 are connect with harmonic speed reducer 3.Brushless straight drive torque motor 4 has small in size, weight
Gently, the characteristics of power density.
The positioning of stator and rotor, such as Fig. 3 are used on input flange 7 and rotor installation axle 9 with positioning convex platform.Rotor peace
The support for filling axis 9 realizes that two deep groove ball bearings are located at rotor installation axle 9 by the first, second deep groove ball bearing 19,20
The positioning of output end and input terminal, bearing relies on input flange 7 and positioning convex platform and bearing gland in rotor installation axle 9
21, the precompressed of code-disc mounting base 23, deep groove ball bearing is realized by tolerance fit.This structure type further improves cooperation
The structural compactness of joint of robot improves power density and load self weight ratio.
As shown in Figure 1, harmonic speed reducer 3 includes harmonic reducer flexible wheel 3-1, harmonic speed reducer wave producer 3-2 and humorous
Wave retarder steel wheel 3-3, wherein harmonic speed reducer wave producer 3-2 is connect by screw with rotor installation axle 9, harmonic speed reducer
Steel wheel 3-3 is connect by screw with input flange 7, and harmonic reducer flexible wheel 3-1 is connect with penetration pipe 8.Harmonic speed reducer 3 has
Advantage small in size, that reduction ratio is big, power density is big.
Further, the input terminal of rotor installation axle 9 is equipped with brake 5, and brake 5 includes mounting seat of brake 10, system
Dynamic device friction plate 5-1 and brake armature 5-2, wherein mounting seat of brake 10 is connect by screw with input flange 7, brake
Armature 5-2 is mounted on mounting seat of brake 10 by screw, and brake bush 5-1 is connect with rotor installation axle 9.
Brake 5 is power down type of retardation.When normal work, brake armature 5-2 be powered, brake bush 5-1 and
Brake armature 5-2 is separated.But during power down, brake armature 5-2 and brake bush 5-1 is pulled together, and realizes system
It is dynamic.
Brake 5 be in order to guarantee the safety in robot use process, brake 5 can robot power down, driving,
Emergency braking in the case where out of control increases the safety that robot uses；Further, joint is equipped with mechanical position limitation, uses
In the self-interference etc. for preventing the excessive generation of movement angle.
Further, the input terminal of rotor installation axle 9 is additionally provided with absolute value encoder 14 and incremental encoder 6.
As shown in Figure 1, shown in Figure 5, absolute value encoder 14 includes absolute value encoder mounting base 15, absolute value encoder rotor
14-1 and absolute value encoder stator 14-2, wherein absolute value encoder rotor 14-1 is installed on penetration pipe 8, as harmonic wave subtracts
The movement of fast device flexbile gear 3-1 and move.Absolute value encoder stator 14-2 is installed on system by absolute value encoder mounting base 15
In dynamic device mounting base 10, absolute value encoder 14 can obtain actual robot motion's angle, improve joint or robot
Positioning accuracy.
As Figure 1 and Figure 4, incremental encoder 6 includes incremental encoder read head 6-1, incremental encoder code-disc 6-
2, read head mounting base 22 and code-disc mounting base 23, wherein incremental encoder code-disc 6-2 is installed on by code-disc mounting base 23 and is turned
In sub- installation axle 9, moved with rotor 4-2.The both ends of rotor installation axle 9 are installed on input method by deep groove ball bearing
On orchid 7, and input terminal is equipped with bearing gland 21, is equipped with read head mounting base 22, incremental encoder read head on bearing gland 21
6-1 is installed on bearing gland 21 by read head mounting base 22, is reconciled read head at a distance from code-disc by gasket, is obtained motor fortune
Dynamic data.
The cooperation joint of robot with force sensing function further includes the driver 24 being set on input flange 7,
Driver 24 on driver expansion board 25 is installed, driver expansion board 25 is used for torque sensor 2 and rimless straight drive
Torque motor 4 provides constant voltage dc source.
Driver 24 has the characteristics that small in size, power density is big, drives for controlling the parameters such as movement, the speed in joint
Dynamic device 24 passes through driver expansion board 25 and torsion sensor 2, rimless straight drive torque motor 4, incremental encoder 6 and absolutely
Value encoder 14 is connected, and provides regulated power supply for sensor and motor, obtains joint motions, stress, control joint fortune
It is dynamic.
Output flange 1 is connected by screw with robot linkage, transmitting torque etc.；Torsion sensor 2 can be closed
The suffered torque condition of section makes joint or robot have sensing capability.Torsion sensor 2 passes through screw and pin and output method
Orchid 1, harmonic reducer flexible wheel 3-1 and penetration pipe 8 are connected, and power supply line and data line pass through penetration pipe 8 and be connected to driving
Device expansion board 25, as shown in Figure 5.
To realize full dynamical feedback, self-calibration and without functions, the cooperation machine provided in an embodiment of the present invention such as returning to zero
Person joint further includes absolute value encoder 14, and the implementation case uses encoder postposition scheme, keeps joint structure more compact, power
Transfer route is shorter, improves the rigidity of cooperation joint of robot.
The operation principle of the present invention is that:
The control terminal of rimless straight drive torque motor 4, incremental encoder 6, absolute value encoder 14 and torque sensor 2
It is connected respectively at driver 24 by driver expansion board 25, driver 24 is that there is the cooperation robot of force sensing function to close
Control core is saved, is responsible for the functions such as program storage, in real time calculating, SERVO CONTROL, signal processing and communication, driver 24 is to rimless
Straight drive torque motor 4 carries out drive control, and rimless straight drive torque motor 4 works, and rimless straight drive torque motor rotor 4-2 passes through
Rotor installation axle 9 is connect with harmonic speed reducer wave producer 3-2, and the rotary motion deceleration of motor is transferred to by harmonic speed reducer 3
Torsion sensor 2 and hat type output flange 1, provide the movement in joint；Torque sensor 2 can obtain torque suffered by joint,
Driver 24 is sent data to by signal wire, driver 24 makes corresponding reaction, controls rimless straight drive torque motor 4 and transports
It is dynamic, it realizes Shared control, can guarantee that joint or robot work in non-structure environment, make joint that there is power to perceive energy
Power；Driver expansion board 25 can provide the constant voltage dc source of 48V, 24V and 5V to motor and sensor.
The present invention has force sensing function, and the cooperation robot being made from it can cooperate with work under half structure environment with people
Industry, the cooperation joint of robot have the advantages that high-precision force perceptional function, compact-sized, rigidity is high, scalability.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of cooperation joint of robot with force sensing function, which is characterized in that including output flange (1), moment sensing
Device (2), harmonic speed reducer (3), rimless straight drive torque motor (4), input flange (7) and penetration pipe (8), wherein harmonic speed reducer
(3) it is placed in the cavity formed by output flange (1) and input flange (7) with rimless straight drive torque motor (4), the output
Flange (1) and the input flange (7) can relatively rotate, and the harmonic speed reducer (3) and rimless straight drive torque motor (4) cover
On penetration pipe (8), the output end of the rimless straight drive torque motor (4) passes through harmonic speed reducer (3) and the penetration pipe
(8) it connects, the penetration pipe (8) is connect by torque sensor (2) with the output flange (1).
2. the cooperation joint of robot according to claim 1 with force sensing function, which is characterized in that described rimless straight
Drive torque motor (4) includes rimless straight drive torque motor stator (4-1), rimless straight drive torque motor rotor (4-2) and rotor peace
It fills axis (9), wherein rimless straight drive torque motor stator (4-1) is fixedly connected with the input flange (7), the rimless straight drive
Torque motor rotor (4-2) is sleeved on the rotor installation axle (9), the output end and the harmonic wave of the rotor installation axle (9)
Retarder (3) connection.
3. the cooperation joint of robot according to claim 2 with force sensing function, which is characterized in that the harmonic wave subtracts
Fast device (3) includes harmonic reducer flexible wheel (3-1), harmonic speed reducer wave producer (3-2) and harmonic speed reducer steel wheel (3-3),
Wherein harmonic speed reducer wave producer (3-2) is connect with the rotor installation axle (9), the harmonic speed reducer steel wheel (3-3) with
Input flange (7) connection, the harmonic reducer flexible wheel (3-1) connect with the penetration pipe (8).
4. the cooperation joint of robot according to claim 2 with force sensing function, which is characterized in that the rotor peace
The input terminal for filling axis (9) is equipped with brake (5), and the brake (5) includes mounting seat of brake (10), brake bush
(5-1) and brake armature (5-2), wherein mounting seat of brake (10) is connect with the input flange (7), the brake rank
Iron (5-2) is mounted on mounting seat of brake (10), and the brake bush (5-1) connect with the rotor installation axle (9).
5. the cooperation joint of robot according to claim 4 with force sensing function, which is characterized in that the rotor peace
The input terminal of dress axis (9) is additionally provided with absolute value encoder (14) and incremental encoder (6).
6. the cooperation joint of robot according to claim 5 with force sensing function, which is characterized in that the absolute value
Encoder (14) includes absolute value encoder mounting base (15), absolute value encoder rotor (14-1) and absolute value encoder stator
(14-2), wherein absolute value encoder rotor (14-1) is installed on the penetration pipe (8), the absolute value encoder stator
(14-2) is installed on the mounting seat of brake (10) by absolute value encoder mounting base (15).
7. the cooperation joint of robot according to claim 5 with force sensing function, which is characterized in that the increment type
Encoder (6) includes incremental encoder read head (6-1), incremental encoder code-disc (6-2), read head mounting base (22) and code-disc
Mounting base (23), wherein incremental encoder code-disc (6-2) is installed on the rotor installation axle (9) by code-disc mounting base (23)
On, the both ends of the rotor installation axle (9) are installed on the input flange (7) by deep groove ball bearing, and input terminal is equipped with
Bearing gland (21) is equipped with read head mounting base (22) on the bearing gland (21), and incremental encoder read head (6-1) passes through
Read head mounting base (22) is installed on bearing gland (21).
8. the cooperation joint of robot according to claim 1 with force sensing function, which is characterized in that the output method
Blue (1) is supported by right-angled intersection ball bearing (11), and the inner ring of the right-angled intersection ball bearing (11) is installed on described defeated
Enter on flange (7), and the fixed pressure ring (12) by being installed on input flange (7) is fixed, the right-angled intersection ball axis
The outer ring for holding (11) is fixed by the output flange (1) and collar pressure ring (13).
9. the cooperation joint of robot according to claim 8 with force sensing function, which is characterized in that the input method
First limited block (16) and the second limited block (17) be installed, the fixed pressure ring (12) is equipped with positioned at described the on blue (7)
Third limited block (18) between one limited block (16) and the second limited block (17).
10. the cooperation joint of robot according to claim 1 with force sensing function, which is characterized in that further include setting
The driver (24) being placed on the input flange (7) is equipped with driver expansion board (25), institute on the driver (24)
Driver expansion board (25) are stated for providing direct current of voltage regulation to the torque sensor (2) and rimless straight drive torque motor (4)
Source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283195.5A CN109895122B (en) | 2017-12-07 | 2017-12-07 | Cooperative robot joint with force sensing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283195.5A CN109895122B (en) | 2017-12-07 | 2017-12-07 | Cooperative robot joint with force sensing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109895122A true CN109895122A (en) | 2019-06-18 |
| CN109895122B CN109895122B (en) | 2023-12-26 |
Family
ID=66938950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711283195.5A Active CN109895122B (en) | 2017-12-07 | 2017-12-07 | Cooperative robot joint with force sensing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109895122B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| CN111347446A (en) * | 2020-04-17 | 2020-06-30 | 成都卡诺普自动化控制技术有限公司 | Hollow type cooperative robot mechanical arm joint |
| CN112104149A (en) * | 2020-09-17 | 2020-12-18 | 之江实验室 | Modular joint of biped robot |
| CN112372664A (en) * | 2020-11-02 | 2021-02-19 | 伯朗特机器人股份有限公司 | High-integration modular cooperative robot joint module |
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| WO2021062636A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN112936334A (en) * | 2021-02-10 | 2021-06-11 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| CN112968585A (en) * | 2021-02-05 | 2021-06-15 | 上海理工大学 | High-reduction-ratio harmonic magnetic gear reducer with torque measurement capability |
| CN114017622A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Harmonic reducer for monitoring cradle head and cradle head |
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
| CN114603596A (en) * | 2022-04-22 | 2022-06-10 | 广州广电运通金融电子股份有限公司 | Joint module of cooperative robot |
| TWI772118B (en) * | 2021-07-21 | 2022-07-21 | 中強光電股份有限公司 | Joint actuator of robot |
| TWI790034B (en) * | 2021-12-10 | 2023-01-11 | 中光電智能感測股份有限公司 | Joint actuator of robot |
| TWI804824B (en) * | 2020-08-19 | 2023-06-11 | 盟英科技股份有限公司 | Drive system and motor actuator |
| CN112454419B (en) * | 2020-11-13 | 2024-05-03 | 中国船舶集团有限公司第七一六研究所 | Cooperative robot joint with single encoder |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101298A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| US20140084840A1 (en) * | 2012-09-25 | 2014-03-27 | Canon Kabushiki Kaisha | Robot apparatus, robot control method, program, and recording medium |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN106217405A (en) * | 2016-08-26 | 2016-12-14 | 苏州元谋智能机器人系统有限公司 | A kind of robot modularized series connection joint that cooperates |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| KR101793141B1 (en) * | 2016-06-10 | 2017-11-03 | 한국기계연구원 | Joint driving module and compliant type robot artificial ankle |
| CN107398924A (en) * | 2017-09-20 | 2017-11-28 | 河北工业大学 | A kind of hollow type controls integral intelligent modularized joint |
| CN207534828U (en) * | 2017-12-07 | 2018-06-26 | 中国科学院沈阳自动化研究所 | Cooperation joint of robot with force sensing function |
-
2017
- 2017-12-07 CN CN201711283195.5A patent/CN109895122B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101298A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| US20140084840A1 (en) * | 2012-09-25 | 2014-03-27 | Canon Kabushiki Kaisha | Robot apparatus, robot control method, program, and recording medium |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| KR101793141B1 (en) * | 2016-06-10 | 2017-11-03 | 한국기계연구원 | Joint driving module and compliant type robot artificial ankle |
| CN106217405A (en) * | 2016-08-26 | 2016-12-14 | 苏州元谋智能机器人系统有限公司 | A kind of robot modularized series connection joint that cooperates |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| CN107398924A (en) * | 2017-09-20 | 2017-11-28 | 河北工业大学 | A kind of hollow type controls integral intelligent modularized joint |
| CN207534828U (en) * | 2017-12-07 | 2018-06-26 | 中国科学院沈阳自动化研究所 | Cooperation joint of robot with force sensing function |
Non-Patent Citations (2)
| Title |
|---|
| PAN XINAN，WANG HONGGUANG，JIANG YONG: "Research on the Kinematic Calibration of a Modular Reconfigurable Robot", 《2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)》 * |
| 江鹏: "面向空间应用的人形机器人大负载一体化关节的研制", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| WO2021062636A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN112888536A (en) * | 2019-09-30 | 2021-06-01 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN111347446A (en) * | 2020-04-17 | 2020-06-30 | 成都卡诺普自动化控制技术有限公司 | Hollow type cooperative robot mechanical arm joint |
| TWI804824B (en) * | 2020-08-19 | 2023-06-11 | 盟英科技股份有限公司 | Drive system and motor actuator |
| CN112104149A (en) * | 2020-09-17 | 2020-12-18 | 之江实验室 | Modular joint of biped robot |
| CN112372664A (en) * | 2020-11-02 | 2021-02-19 | 伯朗特机器人股份有限公司 | High-integration modular cooperative robot joint module |
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN112454419B (en) * | 2020-11-13 | 2024-05-03 | 中国船舶集团有限公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN112968585A (en) * | 2021-02-05 | 2021-06-15 | 上海理工大学 | High-reduction-ratio harmonic magnetic gear reducer with torque measurement capability |
| CN112936334B (en) * | 2021-02-10 | 2022-07-12 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| CN112936334A (en) * | 2021-02-10 | 2021-06-11 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| TWI772118B (en) * | 2021-07-21 | 2022-07-21 | 中強光電股份有限公司 | Joint actuator of robot |
| CN114017622A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Harmonic reducer for monitoring cradle head and cradle head |
| TWI790034B (en) * | 2021-12-10 | 2023-01-11 | 中光電智能感測股份有限公司 | Joint actuator of robot |
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
| CN114603596A (en) * | 2022-04-22 | 2022-06-10 | 广州广电运通金融电子股份有限公司 | Joint module of cooperative robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109895122B (en) | 2023-12-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207534828U (en) | Cooperation joint of robot with force sensing function | |
| CN109895122A (en) | A kind of cooperation joint of robot with force sensing function | |
| CN107020644A (en) | Redundant degree of freedom mechanical arm modular joint | |
| CN106826906B (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| WO2018130154A1 (en) | High power mass density linear driving device of simplified structure | |
| CN104786217A (en) | Variable-freedom-degree modular mechanical arm | |
| CN109202956A (en) | A kind of submissive articulated mechanical arm based on series elastic driver | |
| CN212736068U (en) | Joint with torque sensor | |
| CN111452084A (en) | Modularized joint of cooperative robot | |
| CN210258628U (en) | High-precision steering wheel structure driven by low-voltage servo motor | |
| CN113977625A (en) | Electric joint module integrating double speed reducers | |
| CN214001791U (en) | Stepping motor controlled agricultural machinery automatic driving steering wheel | |
| CN109676594A (en) | A kind of four axis robot of high-precision | |
| CN109551510A (en) | One kind controling integrated torque can observing and controlling robot revolute joint module | |
| CN113263518A (en) | Integrated self-adaptive force control joint | |
| CN111360872A (en) | Small-size integrated robot joint module | |
| CN216000572U (en) | Servo joint and double-encoder system thereof | |
| CN206825460U (en) | Redundant degree of freedom mechanical arm modular joint | |
| CN214352537U (en) | Joint enveloped by streamline housing | |
| CN107554821A (en) | A kind of space module high-precision servo drive component assembly | |
| CN210361380U (en) | Integrated joint module | |
| CN107901075A (en) | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses | |
| CN211841989U (en) | Cooperative robot joint module with torque sensor | |
| CN208801358U (en) | A kind of joint of mechanical arm with torque-feedback | |
| CN209881582U (en) | Robot joint motor |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |